相关论文: Supervisory Control for Behavior Composition

Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…

Developing safe autonomous driving systems is a major scientific and technical challenge. Existing AI-based end-to-end solutions do not offer the necessary safety guarantees, while traditional systems engineering approaches are defeated by…

In this paper, we provide a compositional framework for synthesizing hybrid controllers for interconnected discrete-time control systems enforcing specifications expressed by co-Buchi automata. In particular, we first decompose the given…

This paper considers the permissive supervisor synthesis for probabilistic systems modeled as Markov Decision Processes (MDP). Such systems are prevalent in power grids, transportation networks, communication networks and robotics. Unlike…

Complex social systems are composed of interconnected individuals whose interactions result in group behaviors. Optimal control of a real-world complex system has many applications, including road traffic management, epidemic prevention,…

Autonomous systems with cognitive features are on their way into the market. Within complex environments, they promise to implement complex and goal oriented behavior even in a safety related context. This behavior is based on a certain…

Oversight and control, which we collectively call supervision, are often discussed as ways to ensure that AI systems are accountable, reliable, and able to fulfill governance and management requirements. However, the requirements for "human…

Compositional, structured models are appealing because they explicitly decompose problems and provide interpretable intermediate outputs that give confidence that the model is not simply latching onto data artifacts. Learning these models…

This paper investigates the problem of co-synthesis of edit function and supervisor for opacity enforcement in the supervisory control of discrete-event systems (DES), assuming the presence of an external (passive) intruder, where the…

Purpose: Curating large-scale datasets of operating room (OR) workflow, encompassing rare, safety-critical, or atypical events, remains operationally and ethically challenging. This data bottleneck complicates the development of ambient…

Control systems should enforce a desired property for both expected modeled situations as well as unexpected unmodeled environmental situations. Existing methods focus on designing controllers to enforce the desired property only when the…

Control in a classical transfer function or state-space setting typically views a controller as a signal processor: sensor outputs are mapped to actuator inputs. In behavioral system theory, control is simply viewed as interconnection; the…

This paper asks a new question: how can we control the collective behavior of self-organized multi-agent systems? We try to answer the question by proposing a new notion called 'Soft Control', which keeps the local rule of the existing…

A conceptual and computational framework is proposed for modelling of human sensorimotor control, and is exemplified for the sensorimotor task of steering a car. The framework emphasises control intermittency, and extends on existing models…

This paper proposes a supervisory control structure for networked systems with time-varying delays. The control structure, in which a supervisor triggers the most appropriate controller from a multi-controller unit, aims at improving the…

Control of underactuated dynamical systems has been studied for decades in robotics, and is now emerging in other fields such as neuroscience. Most of the advances have been in model based control theory, which has limitations when the…

Opacity is a confidentiality property that characterizes the non-disclosure of specified secret information of a system to an outside observer. In this paper, we consider the enforcement of opacity within the discrete-event system formalism…

A reflection of our ultimate understanding of a complex system is our ability to control its behavior. Typically, control has multiple prerequisites: It requires an accurate map of the network that governs the interactions between the…

Contract automata allow to formally define the behaviour of service contracts in terms of service offers and requests, some of which are moreover optional and some of which are necessary. A composition of contracts is said to be in…

This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied -- with known robustness to uncertainties such as time delays, time-varying weights,…