Reactive Synthesis of Stochastic Control Systems: A Mode-triggered Safety Barrier Approach
Amy Nejati, Anne-Kathrin Schmuck · 2024
This paper develops a formal framework to systematically synthesize a controller for continuous-time nonlinear stochastic control systems which react to specification-mode changes, initiated by either the external environment or the system itself. Considering the particular challenging setting where mode switches affect the specification rather than the dynamics, our proposed scheme adopts a synthesis approach based on control barrier certificates to synthesize controllers that ensure compliance with mode-triggered safety specifications. Our method leverages the computational capabilities derived from state-space control techniques and combines them with the reactivity of logic control. We provide a robotic case study to illustrate the effectiveness of our proposed approach.