Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control最新文献

Nonlinear Controller Synthesis and Automatic Workspace Partitioning for Reactive High-Level Behaviors 响应性高层行为的非线性控制器综合与自动工作空间划分

Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control Pub Date : 2016-04-11 DOI: 10.1145/2883817.2883832

Jonathan A. DeCastro, H. Kress-Gazit

{"title":"Nonlinear Controller Synthesis and Automatic Workspace Partitioning for Reactive High-Level Behaviors","authors":"Jonathan A. DeCastro, H. Kress-Gazit","doi":"10.1145/2883817.2883832","DOIUrl":"https://doi.org/10.1145/2883817.2883832","url":null,"abstract":"Motivated by the provably-correct execution of complex reactive tasks for robots with nonlinear, under-actuated dynamics, our focus is on the synthesis of a library of low-level controllers that implements the behaviors of a high-level controller. The synthesized controllers should allow the robot to react to its environment whenever dynamically feasible given the geometry of the workspace. For any behaviors that cannot guarantee the task given the dynamics, such behaviors should be transformed into dynamically-informative revisions to the high-level task. We therefore propose a framework for synthesizing such low-level controllers and, moreover, offer an approach for re-partitioning and abstracting the system based on the synthesized controller library. We accomplish these goals by introducing a synthesis approach that we call conforming funnels, in which controllers are synthesized with respect to the given high-level behaviors, the geometrical constraints of the workspace, and a robot dynamics model. Our approach computes controllers using a verification approach that optimizes over a wide range of possible controllers to guarantee the geometrical constraints are satisfied. We also devise an algorithm that uses the controllers to re-partition the workspace and automatically adapt the high-level specification with a new discrete abstraction generated on these new partitions. We demonstrate the controllers generated by our synthesis framework in an experimental setting with a KUKA youBot executing a box transportation task.","PeriodicalId":337926,"journal":{"name":"Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122186320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 14

Symbolic-Numeric Reachability Analysis of Closed-Loop Control Software 闭环控制软件的符号-数值可达性分析

Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control Pub Date : 2016-04-11 DOI: 10.1145/2883817.2883819

Aditya Zutshi, S. Sankaranarayanan, Jyotirmoy V. Deshmukh, Xiaoqing Jin

{"title":"Symbolic-Numeric Reachability Analysis of Closed-Loop Control Software","authors":"Aditya Zutshi, S. Sankaranarayanan, Jyotirmoy V. Deshmukh, Xiaoqing Jin","doi":"10.1145/2883817.2883819","DOIUrl":"https://doi.org/10.1145/2883817.2883819","url":null,"abstract":"We study the problem of falsifying reachability properties of real-time control software acting in a closed-loop with a given model of the plant dynamics. Our approach employs numerical techniques to simulate a plant model, which may be highly nonlinear and hybrid, in combination with symbolic simulation of the controller software. The state-space and input-space of the plant are systematically searched using a plant abstraction that is implicitly defined by ``quantization'' of the plant state, but never explicitly constructed. Simultaneously, the controller behaviors are explored using a symbolic execution of the control software. On-the-fly exploration of the overall closed-loop abstraction results in abstract counterexamples, which are used to refine the plant abstraction iteratively until a concrete violation is found. Empirical evaluation of our approach shows its promise in treating controller software that has precise, formal semantics, using an exact method such as symbolic execution, while using numerical simulations to produce abstractions of the underlying plant model that is often an approximation of the actual plant. We also discuss a preliminary comparison of our approach with techniques that are primarily simulation-based.","PeriodicalId":337926,"journal":{"name":"Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126429951","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 12

Case Studies in Data-Driven Verification of Dynamical Systems 动态系统数据驱动验证的案例研究

Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control Pub Date : 2016-04-11 DOI: 10.1145/2883817.2883846

Alexandar Kozarev, John F. Quindlen, J. How, U. Topcu

引用次数: 25

A Decision Tree Approach to Data Classification using Signal Temporal Logic 基于信号时序逻辑的数据分类决策树方法

Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control Pub Date : 2016-04-11 DOI: 10.1145/2883817.2883843

Giuseppe Bombara, C. Vasile, Francisco Penedo, Hirotoshi Yasuoka, C. Belta

{"title":"A Decision Tree Approach to Data Classification using Signal Temporal Logic","authors":"Giuseppe Bombara, C. Vasile, Francisco Penedo, Hirotoshi Yasuoka, C. Belta","doi":"10.1145/2883817.2883843","DOIUrl":"https://doi.org/10.1145/2883817.2883843","url":null,"abstract":"This paper introduces a framework for inference of timed temporal logic properties from data. The dataset is given as a finite set of pairs of finite-time system traces and labels, where the labels indicate whether the traces exhibit some desired behavior (e.g., a ship traveling along a safe route). We propose a decision-tree based approach for learning signal temporal logic classifiers. The method produces binary decision trees that represent the inferred formulae. Each node of the tree contains a test associated with the satisfaction of a simple formula, optimally tuned from a predefined finite set of primitives. Optimality is assessed using heuristic impurity measures, which capture how well the current primitive splits the data with respect to the traces' labels. We propose extensions of the usual impurity measures from machine learning literature to handle classification of system traces by leveraging upon the robustness degree concept. The proposed incremental construction procedure greatly improves the execution time and the accuracy compared to existing algorithms. We present two case studies that illustrate the usefulness and the computational advantages of the algorithms. The first is an anomaly detection problem in a maritime environment. The second is a fault detection problem in an automotive powertrain system.","PeriodicalId":337926,"journal":{"name":"Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129418785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 118

Towards Model Checking of Implantable Cardioverter Defibrillators 植入式心律转复除颤器的模型校核

Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control Pub Date : 2016-04-11 DOI: 10.1145/2883817.2883841

Houssam Abbas, Kuk Jin Jang, Zhihao Jiang, R. Mangharam

引用次数: 9

A Topological Method for Finding Invariant Sets of Switched Systems 寻找交换系统不变量集的拓扑方法

Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control Pub Date : 2016-04-11 DOI: 10.1145/2883817.2883822

L. Fribourg, É. Goubault, S. Putot, Sameh Mohamed

引用次数: 3

Adaptive Decentralized MAC for Event-Triggered Networked Control Systems 事件触发网络控制系统的自适应分散MAC

Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control Pub Date : 2016-04-11 DOI: 10.1145/2883817.2883829

Mikhail Vilgelm, M. Mamduhi, W. Kellerer, S. Hirche

{"title":"Adaptive Decentralized MAC for Event-Triggered Networked Control Systems","authors":"Mikhail Vilgelm, M. Mamduhi, W. Kellerer, S. Hirche","doi":"10.1145/2883817.2883829","DOIUrl":"https://doi.org/10.1145/2883817.2883829","url":null,"abstract":"Control over shared communication networks is a key challenge in design and analysis of cyber-physical systems. The quality of control in such systems might be degraded due to the congestion while accessing the scarce communication resources. In this paper, we consider a multiple-loop networked control system (NCS), where all control loops share a communication network. Medium Access Control (MAC) is performed in contention-based fashion using a multi-channel slotted ALOHA protocol, where each control loop decides locally whether to attempt a transmission based on some error thresholds. We further introduce a local event-based resource-aware scheduling design with an adaptive choice of the error thresholds for a transmission. This leads to a hybrid channel access mechanism where the control loops are deterministically categorized into two sets of eligible and ineligible sub-systems for transmission in an event-based fashion, before a random process to select the available channels. In addition, employing the introduced policy, we show the stability of the resulting NCS in terms of Lyapunov stability in probability. We illustrate numerically the efficiency of our proposed approach in terms of reducing the average networked-induced error variance, and show the superiority of the adaptive event-based scheduler compared to the scheduling design with non-adaptive thresholds.","PeriodicalId":337926,"journal":{"name":"Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130682545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 19

Compositional Synthesis with Parametric Reactive Controllers 与参数反应控制器的合成

Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control Pub Date : 2016-04-11 DOI: 10.1145/2883817.2883842

R. Alur, Salar Moarref, U. Topcu

{"title":"Compositional Synthesis with Parametric Reactive Controllers","authors":"R. Alur, Salar Moarref, U. Topcu","doi":"10.1145/2883817.2883842","DOIUrl":"https://doi.org/10.1145/2883817.2883842","url":null,"abstract":"Reactive synthesis with the ambitious goal of automatically synthesizing correct-by-construction controllers from high-level specifications, has recently attracted significant attention in system design and control. In practice, complex systems are often not constructed from scratch but from a set of existing building blocks. For example in robot motion planning, a robot usually has a number of predefined motion primitives that can be selected and composed to enforce a high-level objective. In this paper, we propose a novel framework for synthesis from a library of parametric and reactive controllers. Parameters allow us to take advantage of the symmetry in many synthesis problems. Reactivity of the controllers takes into account that the environment may be dynamic and potentially adversarial. We first show how these controllers can be automatically constructed from parametric objectives specified by the user to form a library of parametric and reactive controllers. We then give a synthesis algorithm that selects and instantiates controllers from the library in order to satisfy a given linear temporal logic objective. We implement our algorithms symbolically and illustrate the potential of our method by applying it to an autonomous vehicle case study.","PeriodicalId":337926,"journal":{"name":"Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133891033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 19

Parallelotope Bundles for Polynomial Reachability 多项式可达性的平行四边形束

Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control Pub Date : 2016-04-11 DOI: 10.1145/2883817.2883838

T. Dreossi, T. Dang, C. Piazza

引用次数: 46

Session details: Case Studies and Tool Papers 会议细节:案例研究和工具论文

Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control Pub Date : 2016-04-11 DOI: 10.1145/3261110

A. Rajhans

引用次数: 0