相关论文: Control Synthesis for Multiple Reach-Avoid Tasks v…

The Hopf formula for Hamilton-Jacobi reachability (HJR) analysis has been proposed to solve high-dimensional differential games, producing the set of initial states and corresponding controller required to reach (or avoid) a target despite…

Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…

We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…

Reachability analysis is important for studying optimal control problems and differential games, which are powerful theoretical tools for analyzing and modeling many practical problems in robotics, aircraft control, among other application…

A challenging problem for autonomous systems is to synthesize a reactive controller that conforms to a set of given correctness properties. Linear temporal logic (LTL) provides a formal language to specify the desired behavioral properties…

This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…

We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of…

We study the prescribed-time reach-avoid (PT-RA) control problem for nonlinear systems with unknown dynamics operating in environments with moving obstacles. Unlike robust or learning based Control Barrier Function (CBF) methods, the…

Within a robot autonomy stack, the planner and controller are typically designed separately, and serve different purposes. As such, there is often a diffusion of responsibilities when it comes to ensuring safety for the robot. We propose…

We consider a Markov control model in discrete time with countable both state space and action space. Using the value function of a suitable long-run average reward problem, we study various reachability/controllability problems. First, we…

We consider the problem of automatic generation of control strategies for robotic vehicles given a set of high-level mission specifications, such as "Vehicle x must eventually visit a target region and then return to a base," "Regions A and…

We study the problem of control synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…

A major challenge faced in the design of large-scale cyber-physical systems, such as power systems, the Internet of Things or intelligent transportation systems, is that traditional distributed optimal control methods do not scale…

In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal…

Safe multi-agent motion planning (MAMP) under task-induced constraints is a critical challenge in robotics. Many real-world scenarios require robots to navigate dynamic environments while adhering to manifold constraints imposed by tasks.…

We address the problem of computing a control for a time-dependent nonlinear system to reach a target set in a minimal time. To solve this minimal time control problem, we introduce a hierarchy of linear semi-infinite programs, the values…

This paper presents a systematic method for synthesizing a Control Barrier Function (CBF) that encodes predictive information into a CBF. Unlike other methods, the synthesized CBF can account for changes and time-variations in the…

Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…

This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…

Considering real-valued clocks in timed automata (TA) makes it a practical modeling framework for discrete-event systems. However, the infinite state space brings challenges to the control of TA. To synthesize a supervisor for TA using the…