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ROCS: A Robustly Complete Control Synthesis Tool for Nonlinear Dynamical Systems

Authors:

Jun LiuAuthors Info & Claims

HSCC '18: Proceedings of the 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week)

Pages 130 - 135

https://doi.org/10.1145/3178126.3178153

Published: 11 April 2018 Publication History

Abstract

This paper presents ROCS, an algorithmic control synthesis tool for nonlinear dynamical systems. Different from other formal control synthesis tools, it guarantees to generate a control strategy with respect to a robustly realizable specification for a nonlinear system. At the core of ROCS is the interval branch-and-bound scheme with a precision control parameter that reflects the robustness of the realizability of the specification. It also supports multiple variable precision control parameters to achieve higher efficiency.

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Cited By

Zhong BZamani MCaccamo M(2024)Formal Synthesis of Controllers for Uncertain Linear Systems Against -Regular Properties: A Set-Based ApproachIEEE Transactions on Automatic Control10.1109/TAC.2023.326739769:1(214-229)Online publication date: Jan-2024
https://doi.org/10.1109/TAC.2023.3267397
Raz DYang LUmberger BOzay N(2023)Determining the domain of stable human sit-to-stand motions via controlled invariant sets and backward reachability2023 European Control Conference (ECC)10.23919/ECC57647.2023.10178282(1-7)Online publication date: 13-Jun-2023
https://doi.org/10.23919/ECC57647.2023.10178282
Shamsah AGu ZWarnke JHutchinson SZhao Y(2023)Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable EnvironmentsIEEE Transactions on Robotics10.1109/TRO.2023.329952439:6(4913-4934)Online publication date: Dec-2023
https://doi.org/10.1109/TRO.2023.3299524
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Index Terms

ROCS: A Robustly Complete Control Synthesis Tool for Nonlinear Dynamical Systems
1. Computing methodologies
  1. Artificial intelligence
    1. Control methods
2. Mathematics of computing
  1. Mathematical analysis
    1. Nonlinear equations

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cover image ACM Conferences

HSCC '18: Proceedings of the 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week)

April 2018

296 pages

ISBN:9781450356428

DOI:10.1145/3178126

Copyright © 2018 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Published: 11 April 2018

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HSCC '18

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SIGBED

HSCC '18: 21st International Conference on Hybrid Systems: Computation and Control

April 11 - 13, 2018

Porto, Portugal

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Overall Acceptance Rate 153 of 373 submissions, 41%

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Cited By

Zhong BZamani MCaccamo M(2024)Formal Synthesis of Controllers for Uncertain Linear Systems Against -Regular Properties: A Set-Based ApproachIEEE Transactions on Automatic Control10.1109/TAC.2023.326739769:1(214-229)Online publication date: Jan-2024
https://doi.org/10.1109/TAC.2023.3267397
Raz DYang LUmberger BOzay N(2023)Determining the domain of stable human sit-to-stand motions via controlled invariant sets and backward reachability2023 European Control Conference (ECC)10.23919/ECC57647.2023.10178282(1-7)Online publication date: 13-Jun-2023
https://doi.org/10.23919/ECC57647.2023.10178282
Shamsah AGu ZWarnke JHutchinson SZhao Y(2023)Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable EnvironmentsIEEE Transactions on Robotics10.1109/TRO.2023.329952439:6(4913-4934)Online publication date: Dec-2023
https://doi.org/10.1109/TRO.2023.3299524
Li YSun ZLiu J(2023)A Specification-Guided Framework for Temporal Logic Control of Nonlinear SystemsIEEE Transactions on Automatic Control10.1109/TAC.2022.316848968:4(2002-2017)Online publication date: Apr-2023
https://doi.org/10.1109/TAC.2022.3168489
Zhao YLi YSentis LTopcu ULiu J(2022)Reactive task and motion planning for robust whole-body dynamic locomotion in constrained environmentsThe International Journal of Robotics Research10.1177/0278364922107771441:8(812-847)Online publication date: 25-May-2022
https://doi.org/10.1177/02783649221077714
Khaled MZamani MBogomolov SJungers R(2021)OmegaThreadsProceedings of the 24th International Conference on Hybrid Systems: Computation and Control10.1145/3447928.3456652(1-7)Online publication date: 19-May-2021
https://dl.acm.org/doi/10.1145/3447928.3456652
Tajvar PMeyer PTumova J(2021)Closed-loop incremental stability for efficient symbolic control of non-linear systemsIFAC-PapersOnLine10.1016/j.ifacol.2021.08.48554:5(121-126)Online publication date: 2021
https://doi.org/10.1016/j.ifacol.2021.08.485
Li YSun ZLiu J(2021)ROCS 2.0: An Integrated Temporal Logic Control Synthesis Tool for Nonlinear Dynamical SystemsIFAC-PapersOnLine10.1016/j.ifacol.2021.08.47054:5(31-36)Online publication date: 2021
https://doi.org/10.1016/j.ifacol.2021.08.470
Xue BWang QZhan NFränzle MOzay NPrabhakar P(2019)Robust invariant sets generation for state-constrained perturbed polynomial systemsProceedings of the 22nd ACM International Conference on Hybrid Systems: Computation and Control10.1145/3302504.3311810(128-137)Online publication date: 16-Apr-2019
https://dl.acm.org/doi/10.1145/3302504.3311810
Khaled MZamani MOzay NPrabhakar P(2019)pFacesProceedings of the 22nd ACM International Conference on Hybrid Systems: Computation and Control10.1145/3302504.3311798(252-257)Online publication date: 16-Apr-2019
https://dl.acm.org/doi/10.1145/3302504.3311798

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