相关论文: Towards an Approximate Conformance Relation for Hy…

Ensuring safety and driving consistency is a significant challenge for autonomous vehicles operating in partially observed environments. This work introduces a consistent parallel trajectory optimization (CPTO) approach to enable safe and…

Whether there is similarity between two physical processes in the movement of objects and the complexity of behavior is an essential problem in science. How to seek similarity through the adoption of quantitative and qualitative research…

Automated driving systems require monitoring mechanisms to ensure operation as intended, especially when system elements degrade and/or fail. Hence, capability monitoring is crucial in order to evaluate the system's remaining performance…

We consider the problem of approximating a multiple-input multiple-output (MIMO) $p\times m$ rational transfer function $H(s)$ of high degree by another $p\times m$ rational transfer function $\hat H(s)$ of much smaller degree, so that the…

Given a model of the expected behavior of a business process and an event log recording its observed behavior, the problem of business process conformance checking is that of identifying and describing the differences between the model and…

This paper introduces robust differential dynamic logic (a fragment of differential dynamic logic) to specify and reason about robust hybrid systems. Practically meaningful syntactic restrictions naturally ensure that definable properties…

The sequential compactness afforded hybrid systems under mild regularity constraints guarantee outer/upper semicontinuous dependence of solutions on initial conditions and perturbations. For reachable sets of hybrid systems, this property…

Reachability analysis has been a prominent way to provide safety guarantees for neurally controlled autonomous systems, but its direct application to neural perception components is infeasible due to imperfect or intractable perception…

Objective: In a companion paper, we propose a parametric hybrid automaton model and an algorithm for the online synthesis of robustly correct and near-optimal controllers for cyber-physical system with reach-avoid guarantees. A key part of…

In collaborative tasks, autonomous agents fall short of humans in their capability to quickly adapt to new and unfamiliar teammates. We posit that a limiting factor for zero-shot coordination is the lack of shared task abstractions, a…

Controlling hybrid systems is mostly very challenging due to the variety of dynamics these systems can exhibit. Inspired by the concept of differential flatness of nonlinear continuous systems and their inherent invertibility property, the…

We propose a hybrid model predictive control algorithm, consensus complementarity control (C3), for systems that make and break contact with their environment. Many state-of-the-art controllers for tasks which require initiating contact…

The data-compatibility approach to constrained optimization, proposed here, strives to a point that is "close enough" to the solution set and whose target function value is "close enough" to the constrained minimum value. These notions can…

As artificial intelligence (AI) / machine learning (ML) gain widespread adoption, practitioners are increasingly seeking means to quantify and control the risk these systems incur. This challenge is especially salient when such systems have…

Most autonomous cars rely on the availability of high-definition (HD) maps. Current research aims to address this constraint by directly predicting HD map elements from onboard sensors and reasoning about the relationships between the…

This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…

This paper is a survey of extensions to finite automata theory to model real-time systems as well as systems exhibiting mixed discrete-continuous behavior. Real-time systems maintain a continuous and timely interaction with the environment,…

Automata representing game-semantic models of programs are meant to operate in environments whose input-output behaviour is constrained by the rules of a game. This can lead to a notion of equivalence between states which is weaker than the…

Optimal quantum control theory carries a huge promise for quantum technology. Its experimental application, however, is often hindered by imprecise knowledge of the its input variables, the quantum system's parameters. We show how to…

We propose an input/output conformance testing theory utilizing Modal Interface Automata with Input Refusals (IR-MIA) as novel behavioral formalism for both the specification and the implementation under test. A modal refinement relation on…