相关论文: Controller synthesis for bisimulation equivalence

We consider the problem of approximating discrete-time plants with finite-valued sensors and actu- ators by deterministic finite memory systems for the purpose of certified-by-design controller synthesis. Building on ideas from robust…

Many correct-by-construction control synthesis methods suffer from the curse of dimensionality. Motivated by this challenge, we seek to reduce a correct-by-construction control synthesis problem to subproblems of more modest dimension. As a…

Hybrid systems are a compact and natural mechanism with which to address problems in robotics. This work introduces an approach to learning hybrid systems from demonstrations, with an emphasis on extracting models that are explicitly…

Taking inspiration from the hypothesis of muscle synergies, we propose a method to generate open loop controllers for an agent solving point-to-point reaching tasks. The controller output is defined as a linear combination of a small set of…

Manufacturing is transitioning from a mass production model to a manufacturing as a service model in which manufacturing facilities 'bid' to produce products. To decide whether to bid for a complex, previously unseen product, a…

H-infinity optimal control and estimation are addressed for a class of systems governed by partial differential equations with bounded input and output operators. Diffusion equations are an important example in this class. Explicit formulas…

This paper discusses the problem of designing a self-balancing unicycle where pedals are used for both power generation and speed control. After developing the principal physical aspects (in the longitudinal dimension), we describe an…

While many studies and tools target the basic stabilizability problem of networked control systems (NCS), nowadays modern systems require more sophisticated objectives such as those expressed as formulae in linear temporal logic or as…

This paper introduces a new behavioral system model with distinct external and internal signals possibly evolving on different time scales. This allows to capture abstraction processes or signal aggregation in the context of control and…

Given a Markov decision process (MDP) and a linear-time ($\omega$-regular or LTL) specification, the controller synthesis problem aims to compute the optimal policy that satisfies the specification. More recently, problems that reason over…

Ensuring constraint satisfaction in large-scale systems with hard constraints is vital in many safety critical systems. The challenge is to design controllers that are efficiently synthesized offline, easily implementable online, and…

Hybrid Communicating Sequential Processes (HCSP) is a powerful formal modeling language for hybrid systems, which is an extension of CSP by introducing differential equations for modeling continuous evolution and interrupts for modeling…

We address the problem of diagnosing and repairing specifications for hybrid systems formalized in signal temporal logic (STL). Our focus is on the setting of automatic synthesis of controllers in a model predictive control (MPC) framework.…

The standard engineering approach to modelling of complex systems is highly compositional. In order to be able to understand (or to control) the behavior of a complex dynamical systems, it is often desirable, if not necessary, to view this…

System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback…

The synthesis problem of static output feedback controllers within the anistropic-norm setup is revisited. A tractable synthesis approach involving iterations over a convex optimization problem is suggested, similarly to existing results…

We propose a perception imitation method to simulate results of a certain perception model, and discuss a new heuristic route of autonomous driving simulator without data synthesis. The motivation is that original sensor data is not always…

Program synthesis is the task of automatically generating a program consistent with a given specification. A natural way to specify programs is to provide examples of desired input-output behavior, and many current program synthesis…

We introduce a method for controlling systems with nonlinear dynamics and full actuation by approximating the dynamics with polynomials and applying a system level synthesis controller. We show how to optimize over this class of controllers…

This paper investigates the synthesis of robust controllers from logical specification of regular properties given in an interval temporal logic QDDC. Our specification encompasses both hard robustness and soft robustness. Here, hard…