Learn More
We present a scalable reachability algorithm for hybrid systems with piecewise affine, non-deterministic dynamics. It combines poly-hedra and support function representations of continuous sets to compute an over-approximation of the reachable states. The algorithm improves over previous work by using variable time steps to guarantee a given local error(More)
Established system relationships for discrete systems, such as language inclusion, simulation, and bisimulation, require system observations to be identical. When interacting with the physical world, modeled by continuous or hybrid systems, exact relationships are restrictive and not robust. In this paper, we develop the first framework of system(More)
In this paper, we address the temporal logic motion planning problem for mobile robots that are modeled by second order dynamics. Temporal logic specifications can capture the usual control specifications such as reachability and invariance as well as more complex specifications like sequencing and obstacle avoidance. Our approach consists of three basic(More)
In this paper, we present a new approach for hierarchical control based on the recent notions of approximate simulation and simulation functions, a quantitative version of the simulation relations. Given a complex system that needs to be controlled and a simpler abstraction, we show how the knowledge of a simulation function allows us to synthesize(More)
Switched systems constitute an important modeling paradigm faithfully describing many engineering systems in which software interacts with the physical world. Despite considerable progress on stability and stabilization of switched systems, the constant evolution of technology demands that we make similar progress with respect to different , and perhaps(More)
Control systems are usually modeled by differential equations describing how physical phenomena can be influenced by certain control parameters or inputs. Although these models are very powerful when dealing with physical phenomena, they are less suitable to describe software and hardware interfacing the physical world. For this reason there is a growing(More)
In this paper, we develop new results on consensus for continuous-time multi-agent systems. We introduce the assumptions of persistent connectivity of the interaction graph and of slow divergence of reciprocal interaction weights. Persistent connectivity can be considered as the counterpart of the notion of ultimate connectivity used in discrete-time(More)
In this paper, we propose an approach to controller synthesis for a class of constrained nonlinear systems. It is based on the use of a hybridization, that is a hybrid abstraction of the nonlinear dynamics. This abstraction is defined on a triangulation of the state-space where on each simplex of the triangulation, the nonlinear dynamics is conservatively(More)