相关论文: Compositional Construction of Control Barrier Func…

Safety filters based on Control Barrier Functions (CBFs) have emerged as a practical tool for the safety-critical control of autonomous systems. These approaches encode safety through a value function and enforce safety by imposing a…

In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…

It has been increasingly recognized that effective human-AI co-creation requires more than prompts and results, but an environment with empowering structures that facilitate exploration, planning, iteration, as well as control and…

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,…

The paper deals with local robust feedback synthesis for systems with multidimensional control and unknown bounded perturbations. Using V.~I.~Korobov's controllability function method, we construct a bounded control which steers an…

This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…

We consider the problem of designing distributed controllers to guarantee dissipativity of a networked system comprised of dynamically coupled subsystems. We require that the control synthesis is carried out locally at the subsystem-level,…

In this paper we study the notion of synchronization from the point of view of combinatorics. As a first step, we address the quantitative problem of counting the number of executions of simple processes interacting with synchronization…

We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We encode tasks using the discrete logic LTL^\psi, which uses the…

Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous…

We consider the problem of safely coordinating ensembles of identical autonomous agents to conduct complex missions with conflicting safety requirements and under noisy control inputs. Using non-smooth control barrier functions (CBFs) and…

We introduce a compositional data-driven methodology with noisy data for designing fully-decentralized safety controllers applicable to large-scale interconnected networks, encompassing a vast number of subsystems with unknown mathematical…

The design of a complex system warrants a compositional methodology, i.e., composing simple components to obtain a larger system that exhibits their collective behavior in a meaningful way. We propose an automaton-based paradigm for…

This work develops a theoretical framework for safety controller synthesis in discrete-time stochastic nonlinear polynomial systems subject to time-invariant delays (dt-SNPS-td). While safety analysis of stochastic systems using control…

This paper introduces the notion of control closure certificates to synthesize controllers for discrete-time control systems against $\omega$-regular specifications. Typical functional approaches to synthesize controllers against…

We present a closed-form optimal control that satisfies both safety constraints (i.e., state constraints) and input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). This main contribution…

This paper formulates and studies the concepts of approximate (alternating) bisimulation relations characterizing equivalence relations between interconnected systems and their abstractions. These equivalence relations guarantee that the…

A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is…

Composing systems is a fundamental concept in modern control systems, yet it remains challenging to formally analyze how controllers designed for individual subsystems can differ from controllers designed for the composition of those…

We present an approach to automatically synthesize synchronized models from lightweight formal specifications. Our approach takes as input a specification of a distributed system along with a global linear time constraint, which must be…