Synthesis of safety controllers robust to unmodeled intermittent disturbances

Dallal, Eric; Neider, Daniel; Tabuada, Paulo

doi:10.1109/cdc.2016.7799416

Cited by 20 publications

(38 citation statements)

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“…Hence, another interesting avenue for further research is to study how to recover from losing, i.e., how to construct strategies that leverage disturbances in order to leave Player 1's winning region. For safety games, this has been addressed by Dallal, Neider, and Tabuada [12]. Fig.…”

Section: Discussionmentioning

confidence: 99%

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Synthesizing optimally resilient controllers

2019

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Recently, Dallal, Neider, and Tabuada studied a generalization of the classical gametheoretic model used in program synthesis, which additionally accounts for unmodeled intermittent disturbances. In this extended framework, one is interested in computing optimally resilient strategies, i.e., strategies that are resilient against as many disturbances as possible. Dallal, Neider, and Tabuada showed how to compute such strategies for safety specifications. In this work, we compute optimally resilient strategies for a much wider range of winning conditions and show that they do not require more memory than winning strategies in the classical model. Our algorithms only have a polynomial overhead in comparison to the ones computing winning strategies. In particular, for parity conditions, optimally resilient strategies are positional and can be computed in quasipolynomial time.

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Section: Discussionmentioning

confidence: 99%

“…By a slight abuse of notation from control theory, such errors are subsumed under the generic term disturbance (cf. [12]).…”

Section: Introductionmentioning

confidence: 99%

Synthesizing optimally resilient controllers

2019

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“…Finally, we have demonstrated the versatility of these tools by using them to solve quantitative request-response games and by showing how to solve the problem of computing fault-resilient strategies in safety games via vertex-ranked games. This latter formulation enables a general study of games with faults, even in the presence of more complex winning conditions than the safety condition considered by Dallal et al [14] and in this work. We are currently investigating how to leverage vertex-ranked games for the synthesis of fault-resistant strategies in parity games.…”

Section: Resultsmentioning

confidence: 87%

“…Then, a fault-resilient strategy for Player 0 is one that maximizes the minimal value val(v) witnessed during any play. Dallal et al construct such a strategy on the fly during the computation of val(v) [14].…”

Section: Fault Resilient Strategies For Safety Gamesmentioning

confidence: 99%

Quantitative Reductions and Vertex-Ranked Infinite Games

Weinert

2018

Electron. Proc. Theor. Comput. Sci.

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We introduce quantitative reductions, a novel technique for structuring the space of quantitative games and solving them that does not rely on a reduction to qualitative games. We show that such reductions exhibit the same desirable properties as their qualitative counterparts and additionally retain the optimality of solutions. Moreover, we introduce vertex-ranked games as a general-purpose target for quantitative reductions and show how to solve them. In such games, the value of a play is determined only by a qualitative winning condition and a ranking of the vertices.We provide quantitative reductions of quantitative request-response games to vertex-ranked games, thus showing EXPTIME-completeness of solving the former games. Furthermore, we exhibit the usefulness and flexibility of vertex-ranked games by showing how to use such games to compute fault-resilient strategies for safety specifications. This work lays the foundation for a general study of fault-resilient strategies for more complex winning conditions.

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“…Ensuring robustness of discrete, eventbased control strategies is an active field of research. Within resilient ABCD, we employ the method intro-arXiv:2008.06315v1 [eess.SY] 14 Aug 2020 duced in [5], [19], where disturbance edges are utilized to formalize resilience and are assumed to be given. Unfortunately, a good disturbance model is not always easy to obtain.…”

Section: Introductionmentioning

confidence: 99%

Resilient abstraction-based controller design

Samuel

Mallik

Schmuck

et al. 2020

Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control

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We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD) where a finite state abstraction of the perturbed system dynamics is constructed and utilized for controller synthesis. In this context, our contribution is twofold: (I) We construct abstractions which model the impact of occasional high disturbance spikes on the system via so called disturbance edges. (II) We show that the application of resilient reactive synthesis techniques to these abstract models results in closed loop systems which are optimally resilient to these occasional high disturbance spikes. We have implemented this resilient ABCD workflow on top of SCOTS and showcase our method through multiple robot planning examples.

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Synthesis of safety controllers robust to unmodeled intermittent disturbances

Cited by 20 publications

References 10 publications

Synthesizing optimally resilient controllers

Synthesizing optimally resilient controllers

Quantitative Reductions and Vertex-Ranked Infinite Games

Resilient abstraction-based controller design

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