Biblio

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.

A cyber-physical system consists of a collection of computing devices communicating with one another and interacting with the physical world via sensors and actuators in a feedback loop. Increasingly, such systems are everywhere, from smart buildings to medical devices to automobiles. This textbook offers a rigorous and comprehensive introduction to the principles of design, specification, modeling, and analysis of cyber-physical systems. The book draws on a diverse set of subdisciplines, including model-based design, concurrency theory, distributed algorithms, formal methods of specification and verification, control theory, real-time systems, and hybrid systems, explaining the core ideas from each that are relevant to system design and analysis.The book explains how formal models provide mathematical abstractions to manage the complexity of a system design. It covers both synchronous and asynchronous models for concurrent computation, continuous-time models for dynamical systems, and hybrid systems for integrating discrete and continuous evolution. The role of correctness requirements in the design of reliable systems is illustrated with a range of specification formalisms and the associated techniques for formal verification. The topics include safety and liveness requirements, temporal logic, model checking, deductive verification, stability analysis of linear systems, and real-time scheduling algorithms. Principles of modeling, specification, and analysis are illustrated by constructing solutions to representative design problems from distributed algorithms, network protocols, control design, and robotics.This book provides the rapidly expanding field of cyber-physical systems with a long-needed foundational text by an established authority. It is suitable for classroom use or as a reference for professionals.