Secure-by-construction synthesis of cyber-physical systems
Correct-by-construction synthesis is a cornerstone of the confluence of formal methods and
control theory towards designing safety-critical systems. Instead of following the time-tested …
control theory towards designing safety-critical systems. Instead of following the time-tested …
Compositional abstraction and safety synthesis using overlap** symbolic models
In this paper, we develop a compositional approach to abstraction and safety synthesis for a
general class of discrete-time nonlinear systems. Our approach makes it possible to define a …
general class of discrete-time nonlinear systems. Our approach makes it possible to define a …
On-the-fly symbolic synthesis with memory reduction guarantees
E Macoveiciuc, G Reissig - IEEE Transactions on Automatic …, 2022 - ieeexplore.ieee.org
We present novel on-the-fly abstraction-based controller synthesis algorithms for two
fundamental specifications—invariance and optimal reachability. In contrast to existing …
fundamental specifications—invariance and optimal reachability. In contrast to existing …
Reconfigurable motion planning and control in obstacle cluttered environments under timed temporal tasks
This work addresses the problem of robot navigation under timed temporal specifications in
workspaces cluttered with obstacles. We propose a hybrid control strategy that guarantees …
workspaces cluttered with obstacles. We propose a hybrid control strategy that guarantees …
Constructing control system abstractions from modular components
This paper tackles the problem of constructing finite abstractions for formal controller
synthesis with high dimensional systems. We develop a theory of abstraction for discrete …
synthesis with high dimensional systems. We develop a theory of abstraction for discrete …
Timed abstractions for distributed cooperative manipulation
This paper addresses the problem of deriving well-defined timed abstractions for the
decentralized cooperative manipulation of a single object by N robotic agents. In particular …
decentralized cooperative manipulation of a single object by N robotic agents. In particular …
Robustness and invariance of connectivity maintenance control for multiagent systems
This paper is focused on a cooperative control design which guarantees robust connectivity
and invariance of a multiagent network inside a bounded domain, under the presence of …
and invariance of a multiagent network inside a bounded domain, under the presence of …
Controller synthesis for interconnected systems using parametric assume-guarantee contracts
M Al Khatib, M Zamani - 2020 American Control Conference …, 2020 - ieeexplore.ieee.org
In this paper we synthesize controllers for interconnected systems to enforce parametric
assume-guarantee contracts (AGC), which encode behaviors of the systems in some …
assume-guarantee contracts (AGC), which encode behaviors of the systems in some …
[HTML][HTML] Planning and control of multi-robot-object systems under temporal logic tasks and uncertain dynamics
We develop an algorithm for the motion and task planning of a system composed of multiple
robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) …
robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) …
Decentralized abstractions for multi-agent systems under coupled constraints
The goal of this paper is to define abstractions for multi-agent systems with feedback
interconnection in their dynamics. In the proposed decentralized framework, we specify a …
interconnection in their dynamics. In the proposed decentralized framework, we specify a …