相关论文: Finding Control Synthesis for Kinematic Shortest P…

In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the…

General purpose correct-by-construction synthesis methods are limited to systems with low dimensionality or simple specifications. In this work we consider highly symmetrical counting problems and exploit the symmetry to synthesize provably…

We present a method for synthesizing controllers to steer trajectories from an initial set to a target set on a finite time horizon. The proposed control synthesis problem is decomposed into two steps. The first step under-approximates the…

This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…

We establish a Pontryagin maximum principle for discrete time optimal control problems under the following three types of constraints: a) constraints on the states pointwise in time, b) constraints on the control actions pointwise in time,…

In this article, we consider the path-planning problem of a cooperative homogeneous robotic system with rigid formation. An optimal controller is designed for each agent in such rigid systems based on Pontryagin's minimum principle theory.…

Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where computing control inputs is typically cast as a constrained…

Controller synthesis, including reset controller, feedback controller, and switching logic controller, provides an essential mechanism to guarantee the correctness and reliability of hybrid systems in a correct-by-construction manner.…

This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…

We present a new method for the automated synthesis of safe and robust Proportional-Integral-Derivative (PID) controllers for stochastic hybrid systems. Despite their widespread use in industry, no automated method currently exists for…

Given a multi-modal dynamical system, optimal switching logic synthesis involves generating the conditions for switching between the system modes such that the resulting hybrid system satisfies a quantitative specification. We formalize and…

In this study, we consider an optimal control problem driven by a stochastic differential equation with state constraints. Here, the state constraints mean the constraints about the path of state. In order to show the maximum principe for…

We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems…

We expose in a tutorial fashion the mechanisms which underlie the synthesis of optimization algorithms based on dynamic integral quadratic constraints. We reveal how these tools from robust control allow to design accelerated gradient…

Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…

This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature…

Modern assembly processes require flexibility and adaptability to handle increasing product variety and customization. Traditional assembly planning methods often prioritize finding an optimal assembly sequence, overlooking the requirements…

We propose a new method for controlled system synthesis on non-deterministic automata, which includes the synthesis for deadlock-freeness, as well as invariant and reachability expressions. Our technique restricts the behavior of a…

This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…

Many complex real world phenomena exhibit abrupt, intermittent or jumping behaviors, which are more suitable to be described by stochastic differential equations under non-Gaussian L\'evy noise. Among these complex phenomena, the most…