相关论文: Agile Temporal Discretization for Symbolic Optimal…

Solutions to optimal control problems can be discontinuous, even if all the functionals defining the problem are smooth. This can cause difficulties when numerically computing solutions to these problems. While conventional numerical…

Appropriate time discretization is crucial for real-time applications of numerical optimal control, such as nonlinear model predictive control. However, if the discretization error strongly depends on the applied control input, meeting…

In this paper, we propose a compositional approach to construct opacity-preserving finite abstractions (a.k.a symbolic models) for networks of discrete-time nonlinear control systems. Particularly, we introduce new notions of simulation…

This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…

Abstraction-based control design is a promising approach for ensuring safety-critical control of complex cyber-physical systems. A key aspect of this methodology is the relation between the original and abstract systems, which ensures that…

In this paper, we investigate novel self-triggered controllers for nonlinear control systems with reachability and safety specifications. To synthesize the self-triggered controller, we leverage the notion of symbolic models, or…

Standard reinforcement learning algorithms with a single policy perform poorly on tasks in complex environments involving sparse rewards, diverse behaviors, or long-term planning. This led to the study of algorithms that incorporate…

We introduce a method which enables a recurrent dynamics model to be temporally abstract. Our approach, which we call Adaptive Skip Intervals (ASI), is based on the observation that in many sequential prediction tasks, the exact time at…

This paper addresses a new class of optimal control problems for perturbed sweeping processes with measurable controls in additive perturbations of the dynamics and smooth controls in polyhedral moving sets. We develop a constructive…

This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a Linear Temporal Logic (LTL) formula. The proposed solution is a top-down hierarchical decomposition of the control problem involving…

Temporal abstraction in reinforcement learning is the ability of an agent to learn and use high-level behaviors, called options. The option-critic architecture provides a gradient-based end-to-end learning method to construct options. We…

Immersed boundary methods have attracted substantial interest in the last decades due to their potential for computations involving complex geometries. Often these cannot be efficiently discretized using boundary-fitted finite elements.…

Resilience to damage, component degradation, and adversarial action is a critical consideration in design of autonomous systems. In addition to designing strategies that seek to prevent such negative events, it is vital that an autonomous…

Abstraction (in its various forms) is a powerful established technique in model-checking; still, when unbounded data-structures are concerned, it cannot always cope with divergence phenomena in a satisfactory way. Acceleration is an…

This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate STL constraints as a robust optimization problem (ROP) and…

Unnecessary communication and computation in the periodic execution of control tasks lead to over-provisioning in hardware design (or underexploitation in hardware utilization) in control applications, such as networked control systems. To…

We consider both discrete and continuous "uncertain horizon" deterministic control processes, for which the termination time is a random variable. We examine the dynamic programming equations for the value function of such processes,…

This paper addresses the problem of robust control of a linear discrete-time system subject to bounded disturbances and to measurement and control budget constraints. Using Q-parameterization and a polytope containment method, we prove that…

In this paper, we consider the problem of verifying pre-opacity for discrete-time control systems. Pre-opacity is an important information-flow security property that secures the intention of a system to execute some secret behaviors in the…

We establish a variety of results extending the well-known Pontryagin maximum principle of optimal control to discrete-time optimal control problems posed on smooth manifolds. These results are organized around a new theorem on critical and…