相关论文: Bridging Abstraction-Based Hierarchical Control an…

We consider the problem of automatically synthesizing a hybrid controller for non-linear dynamical systems which ensures that the closed-loop fulfills an arbitrary \emph{Linear Temporal Logic} specification. Moreover, the specification may…

Previous approaches to constructing abstractions for control systems rely on geometric conditions or, in the case of an interconnected control system, a condition on the interconnection topology. Since these conditions are not always…

This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…

We introduce a novel method for controlling a motion sequence using an arbitrary temporal control sequence using temporal alignment. Temporal alignment of motion has gained significant attention owing to its applications in motion control…

This paper presents a novel approach to including non-instantaneous discrete control transitions in the linear hybrid automaton approach to simulation and verification of hybrid control systems. In this paper we study the control of a…

Model Predictive Control (MPC) is often tuned by trial and error. When a baseline linear controller exists that is already well tuned in the absence of constraints and MPC is introduced to enforce them, one would like to avoid altering the…

We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifications. We first create a low-dimensional continuous…

Abstract simulation of one transition system by another is introduced as a means to simulate a potentially infinite class of similar transition sequences within a single transition sequence. This is useful for proving confluence under…

This paper addresses the problem of steering an initial probability distribution to a target probability distribution through a deterministic or stochastic linear control system. Our proposed approach is inspired by the flow matching…

This paper presents a novel free-hand sketch synthesis approach addressing explicit abstraction control in class-conditional and photo-to-sketch synthesis. Abstraction is a vital aspect of sketches, as it defines the fundamental distinction…

A hierarchical Model Predictive Control (MPC) formulation is presented for coupled discrete-time linear systems with state and input constraints. Compared to a centralized approach, a two-level hierarchical controller, with one controller…

We introduce a notion of synchronization for higher-dimensional automata, based on coskeletons of cubical sets. Categorification transports this notion to the setting of categorical transition systems. We apply the results to study the…

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…

Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…

We develop new methods to statically bound the resources needed for the execution of systems of concurrent, interactive threads. Our study is concerned with a \emph{synchronous} model of interaction based on cooperative threads whose…

Controller synthesis techniques for continuous systems with respect to temporal logic specifications typically use a finite-state symbolic abstraction of the system model. Constructing this abstraction for the entire system is…

There is an increasing demand for controller design techniques capable of addressing the complex requirements of todays embedded applications. This demand has sparked the interest in symbolic control where lower complexity models of control…

Challenges in the discrete implementation of sliding-mode controllers (SMC) with barrier-function-based adaptations are analyzed, revealing fundamental limitations in conventional design frameworks. It is shown that under uniform sampling,…

Bimanual manipulation presents unique challenges compared to unimanual tasks due to the complexity of coordinating two robotic arms. In this paper, we introduce InterACT: Inter-dependency aware Action Chunking with Hierarchical Attention…

In this paper, we present a hybrid direct-indirect model reference adaptive controller (MRAC), to address a class of problems with matched and unmatched uncertainties. In the proposed architecture, the unmatched uncertainty is estimated…