Related papers: Resilient and Effort-Optimal Controller Synthesis …
The control of dynamical systems under temporal logic specifications among uncontrollable dynamic agents is challenging due to the agents' a-priori unknown behavior. Existing works have considered the problem where either all agents are…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
This paper considers the problem of regulating a dynamical system to equilibria that are defined as solutions of an input- and state-constrained optimization problem. To solve this regulation task, we design a state feedback controller…
We present a novel approach for the control of uncertain, linear time-invariant systems, which are perturbed by potentially unbounded, additive disturbances. We propose a \emph{doubly robust} data-driven state-feedback controller to ensure…
The aim of this work is to address issues where formal specifications cannot be realized on a given dynamical system subjected to a changing environment. Such failures occur whenever the dynamics of the system restrict the robot in such a…
This paper introduces a framework for quantitative characterization of the controllability of time-varying linear systems (or networks) in terms of input novelty. The motivation for such an approach comes from the study of biophysical…
We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD)…
The present article introduces a reference framework for discussing resilience of computational systems. Rather than a property that may or may not be exhibited by a system, resilience is interpreted here as the emerging result of a dynamic…
We consider the problem of synthesizing resilient and stochastically stable strategies for systems of cooperating agents striving to minimize the expected time between consecutive visits to selected locations in a known environment. A…
Automatic synthesis from temporal logic specifications is an attractive alternative to manual system design, due to its ability to generate correct-by-construction implementations from high-level specifications. Due to the high complexity…
Most control synthesis methods under temporal logic properties require a model of the system, however, identifying such a model can be a challenging task. In this work, we develop a direct data-driven control synthesis method for temporal…
We investigate the problem of optimal control synthesis for Markov Decision Processes (MDPs), addressing both qualitative and quantitative objectives. Specifically, we require the system to satisfy a qualitative task specified by a Linear…
We consider controller design for robust output tracking and disturbance rejection for continuous-time periodic linear systems with periodic reference and disturbance signals. As our main results we present four different controllers: A…
This letter offers a novel approach to Test and Evaluation of pre-existing controllers from a control barrier function and dynamics perspective. More aptly, prior Test and Evaluation techniques tend to require apriori knowledge of a space…
Recently, Dallal, Neider, and Tabuada studied a generalization of the classical game-theoretic model used in program synthesis, which additionally accounts for unmodeled intermittent disturbances. In this extended framework, one is…
In reactive controller synthesis, a number of implementations (controllers) are possible for a given specification because of the incomplete nature of specification. To choose the most desirable one from the various options, we need to…
In this paper, we consider the problem of controlling a dynamical system such that its trajectories satisfy a temporal logic property in a given amount of time. We focus on multi-affine systems and specifications given as syntactically…
Reactive synthesis is a technology for the automatic construction of reactive systems from logical specifications. In these lecture notes, we study different algorithms for the reactive synthesis problem of linear-time temporal logic (LTL).…
This paper addresses the problem of finite horizon constrained robust optimal control for nonlinear systems subject to norm-bounded disturbances. To this end, the underlying uncertain nonlinear system is decomposed based on a first-order…
Prior work on automatic control synthesis for cyber-physical systems under logical constraints has primarily focused on environmental disturbances or modeling uncertainties, however, the impact of deliberate and malicious attacks has been…