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Contributions to robotic control design with formal safety and stability guarantees

Abstract : One of the key issues for robotic applications, or in a larger sense for all cyber-physical systems, is safety. Safety can have different implications depending on the field of work and the system concerned. However a very broad definition of safety can be given as ensuring that certain states or events never occur or that the consequences resulting from such unsafe events are bounded to an acceptable level, no matter the circumstances. In this thesis an active type of safety is pursued, strengthening the constraints on the control strategy. The goal is to provide means to automatically generate control strategies that provide formal, model-based guarantees that no undesired states or events occur, considering all possible circumstances. To this end, I seek to combione formal model checking techniques, specifically the theory of timed automata and supervised control, and robotic control strategies based on numerical optimization. This work is centred around three different but interconnected research topics: 1) Control law synthesis via timed automata abstraction 2) Stabilizability of dynamical systems 3) Learning stable vector fields from demonstration.
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Philipp Schlehuber-Caissier. Contributions to robotic control design with formal safety and stability guarantees. Automatic. Sorbonne Université, 2018. English. ⟨NNT : 2018SORUS346⟩. ⟨tel-02865507⟩

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