11 papers
End-to-End Abstraction-Based Control with LLM-Enhanced NL-to-LTL Translation
Amir Bayat, Necmiye Ozay, Alessandro Abate +1
Abstraction-Based Controller Design (ABCD) offers a principled framework for the safe control of complex Cyber-Physical Systems (CPSs), but interfacing real-world requirements with…
On Tikhonov Regularization for Direct and Indirect Data-Driven LQR Control
Shuyuan Zhang, Zheming Wang, Raphael M. Jungers
In recent years, the so-called `direct data-driven control' has been a topic of intense research, and it is expected that it will become prominent in future complex dynamical syste…
CC-VPSTO: Chance-Constrained Via-Point-Based Stochastic Trajectory Optimisation for Online Robot Motion Planning under Uncertainty
Lara Brudermüller, Guillaume Berger, Julius Jankowski +3
Reliable robot autonomy hinges on decision-making systems that account for uncertainty without imposing overly conservative restrictions on the robot's action space. We introduce C…
Characterizing simulation relations through control architectures in abstraction-based control
Julien Calbert, Antoine Girard, Raphaël M. Jungers
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 be…
Comparing Labeled Markov Chains: A Cantor-Kantorovich Approach
Adrien Banse, Alessandro Abate, Raphaël M. Jungers
Labeled Markov Chains (or LMCs for short) are useful mathematical objects to model complex probabilistic languages. A central challenge is to compare two LMCs, for example to asses…
Agile Temporal Discretization for Symbolic Optimal Control
Adrien Janssens, Adrien Banse, Julien Calbert +1
As control systems grow in complexity, abstraction-based methods have become essential for designing controllers with formal guarantees. However, a key limitation of these methods…