Related papers: Bridging Abstraction-Based Hierarchical Control an…

A symmetry of a dynamical system is a map that transforms one trajectory to another trajectory. We introduce a new type of abstraction for hybrid automata based on symmetries. The abstraction combines different modes in a concrete automaton…

Decision-making in complex, continuous multi-task environments is often hindered by the difficulty of obtaining accurate models for planning and the inefficiency of learning purely from trial and error. While precise environment dynamics…

Controlling a large population, in the limit, a continuum, of structurally identical dynamical systems with parametric variations is a pervasive task in diverse applications in science and engineering. However, the severely underactuated…

A key challenge in abstraction-based verification and control under complex specifications such as Linear Temporal Logic (LTL) is that abstract models retain significantly less information than their original systems. This issue is…

This work is focused on constructing space-time covariance functions through a hierarchical mixture approach that can serve as building blocks for capturing complex dependency structures. This hierarchical mixture approach provides a…

This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints…

In this paper, we design a theoretical framework allowing to apply model predictive control on hybrid systems. For this, we develop a theory of approximate dynamic programming by leveraging the concept of alternating simulation. We show how…

This paper proposes an alignment for the operationalisation of Meaningful Human Control (MHC) for autonomous systems by proposing operational principles for MHC and introducing a generic framework for its application. With a plethora of…

We establish relationships between the classical moments problems which are problems of a construction of a measure supported on a real line, on a half-line or on an interval from prescribed set of moments with the Boundary control approach…

This paper investigates the use of fixed-point Anderson acceleration method (AA) to a recently proposed hierarchical control framework. Due to its model-free property, the AA-based resulting hierarchical framework becomes more generic since…

Time-varying mixture densities occur in many scenarios, for example, the distributions of keywords that appear in publications may evolve from year to year, video frame features associated with multiple targets may evolve in a sequence. Any…

Hierarchical forecasting methods have been widely used to support aligned decision-making by providing coherent forecasts at different aggregation levels. Traditional hierarchical forecasting approaches, such as the bottom-up and top-down…

It remains a challenge to provide safety guarantees for autonomous systems with neural perception and control. A typical approach obtains symbolic bounds on perception error (e.g., using conformal prediction) and performs verification under…

In this paper, we consider the problem of verifying pre-opacity for discrete-time control systems. Pre-opacity is an important information-flow security property that secures the intention of a system to execute some secret behaviors in the…

In the first part of the paper, we consider a discrete-time stochastic control system. We show that, under certain conditions, the set of random occupational measures generated by the state-control trajectories of the system as well as the…

In this work, we address the challenge of lyrics alignment, which involves aligning the lyrics and vocal components of songs. This problem requires the alignment of two distinct modalities, namely text and audio. To overcome this challenge,…

Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining contact with a table. Individual subtasks can be achieved by task-axis controllers defined…

In many mechatronic applications, controller input costs are negligible and time optimality is of great importance to maximize the productivity by executing fast positioning maneuvers. As a result, the obtained control input has mostly a…

We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…

Automated synthesis of correct-by-construction controllers for autonomous systems is crucial for their deployment in safety-critical scenarios. Such autonomous systems are naturally modeled as stochastic dynamical models. The general…