相关论文: Supervisory Control for Behavior Composition

This paper presents a Directed Controller Synthesis (DCS) technique for discrete event systems. The DCS method explores the solution space for reactive controllers guided by a domain-independent heuristic. The heuristic is derived from an…

Machine learning algorithms have achieved superhuman performance in specific complex domains. However, learning online from few examples and compositional learning for efficient generalization across domains remain elusive. In humans, such…

This work proposes a novel approach to include a model of making decision in human brain into the control loop. Employing the methodology developed in mathematical neuroscience, we construct a model that accounts for quality of human…

We investigate deterministic and nonblocking supervisory control of discrete event systems under cyber-attacks using the ALTER (Attack Language for Transition-basEd Replacement) model. While prior works consider supervisory control that…

We revisit the behavioral approach to systems theory and make explicit the abstract pattern that governs it. Our end goal is to use that pattern to understand interaction-related phenomena that emerge when systems interact. Rather than…

This article provides an introduction to event-triggered coordination for multi-agent average consensus. We provide a comprehensive account of the motivations behind the use of event-triggered strategies for consensus, the methods for…

Voluntary behavior of humans appears to be composed of small, elementary building blocks or behavioral primitives. While this modular organization seems crucial for the learning of complex motor skills and the flexible adaption of behavior…

Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able to develop and execute complex plans, which has not yet been…

Regulatory approval and safety guarantees for autonomous vehicles facing frequent functional updates and complex software stacks, including artificial intelligence, are a challenging topic. This paper proposes a concept and guideline for…

Event-triggered and self-triggered control have recently been proposed as implementation strategies that considerably reduce the resources required for control. Although most of the work so far has focused on closing a single control loop,…

This paper investigates the problem of distributed nonblocking supervisory control for timed discrete-event systems (DESs). The distributed supervisors communicate with each other over networks subject to nondeterministic communication…

Recently, we have proposed two complementary approaches, top-down and bottom-up, to multilevel supervisory control of discrete-event systems. In this paper, we compare and combine these approaches. The combined approach has strong features…

We study the problem of empirical coordination subject to a fidelity criterion for a general set-up. We prove a result which indicates a strong connection between our framework and the framework of empirical coordination developed in [1].…

A common theme in all the above areas is designing a dynamical system to accomplish desired objectives, possibly in some predefined optimal way. Since control theory advances the idea of suitably modifying the behavior of a dynamical…

In this paper, we deal with the problem of coordinating multiple robots to build 3-D structures. This problem consists of a set of mobile robots that interact with each other in order to autonomously build a predefined 3-D structure. Our…

This paper considers the problem of safety controller synthesis for systems equipped with sensor modalities that can provide preview information. We consider switched systems where switching mode is an external signal for which preview…

Humans perform exquisite sensorimotor skills, both individually and in teams, from athletes performing rhythmic gymnastics to everyday tasks like carrying a cup of coffee. The "predictive brain" framework suggests that mastering these…

The control function approach allows the researcher to identify various causal effects of interest. While powerful, it requires a strong invertibility assumption in the selection process, which limits its applicability. This paper expands…

We address the problem of verifying k-safety properties: properties that refer to k-interacting executions of a program. A prominent way to verify k-safety properties is by self composition. In this approach, the problem of checking…

In this paper, we further develop the coordination control scheme for discrete-event systems based on the Ramadge-Wonham framework. The notions of conditional decomposability, conditional controllability, and conditional closedness are…