The TerraSwarm Research Center

This is a large consortium project led by UC Berkeley as part of the TerraSwarm Research Center (TSRC). This page primarily describes the work done in Richard Murray's group.

Project participants: Sumanth Dathathri (Alumni, CMS) Ioannis Filippidis (Alumni, CDS) Marcella Gomez Scott Livingston* Ivan Papusha Vasu Raman

Collaborators: Sanjit Seshia (UC Berkeley)

The TerraSwarm Research Center (TSRC) aims to enable the simple, reliable, and secure deployment of a multiplicity of advanced distributed sense-control-actuate applications on shared, massively distributed, heterogeneous, and mostly uncoordinated swarm platforms through an open and universal systems architecture.

As new sensing, actuation and data subsystems are added and removed from TerraSwarm Systems, command and control systems must take into the current capabilities to insure that system safety is maintained and performance is optimized. Work at Caltech is focused on the development of architectures and algorithms for specification, design of correct-by-contruction protocols that identify and make use of highly dynamic, networked-based resources to accomplish a task and are capable of providing safe operation based on assume/gaurantee contracts provided by individual subsystems. To manage the complexity of the overall protocol synthesis, we will exploit the structure of assume/gaurantee constructs that provide appropriate separation of concerns and explore the use of incremental techniques that can provide rapid synthesis based on the current system solution. Caltech is also supporting the demonstration the technologies developed on joint demonstration platforms devloped by other members of the TSRC.

Objectives

• Exploiting distributed localization techniques, we will develop controllers that form and update belief states about the environment without prior detailed models
  • As components move, appear, or disappear, command and control systems must adapt to use currently available services while maintaining system safety and performance.
  • We will develop architectures and algorithms for specification and design of correct-by-construction protocolsthat identify and make use of highly dynamic, networked-based resources to accomplish a task.
  • Safe operation will be ensured using assume/guarantee contracts provided by individual subsystems. A key challenge will be to manage the complexity of protocol synthesis.
• Define specific applications for use as test cases of TerraSwarm Systems, and perform preliminary analyses of their feasibility. Subsequent years will be devoted to prototyping, deploying, adapting, and testing these applications.

Publications

• Layering assume-guarantee contracts for hierarchical system design. Ioannis Filippidis and Richard M. Murray. Proceedings of the IEEE, 2018.
• Parallelizing Synthesis from Temporal Logic Specifications by Identifying Equicontrollable States. Sumanth Dathathri, Ioannis Filippidis and Richard M. Murray. 2019 International Symposium on Robotics Research (ISRR).
• Learning-Based Abstractions for Nonlinear Constraint Solving. Sumanth Dathathri, Nikos Arechiga, Sicun Gao, and Richard M. Murray. 2017 International Joint Conference on Artificial Intelligence (IJCAI).
• Decomposing GR(1) Games with Singleton Liveness Guarantees for Efficient Synthesis. Sumanth Dathathri and Richard M. Murray. 2017 Conference on Decision and Control (CDC).
• Hiding variables when decomposing specifications into GR(1) contracts. Ioannis Filippidis and Richard M. Murray. Submitted, 2017 Conference on Decision and Control (CDC).
• Enhancing tolerance to unexpected jumps in GR(1) games. Sumanth Dathathri, Scott C. Livingston and Richard M. Murray. 2017 Int'l Conference on Cyberphysical Systems (ICCPS).
• Control design for hybrid systems with TuLiP: The temporal logic planning toolbox. Ioannis Filippidis, Sumanth Dathathri, Scott C. Livingston, Necmiye Ozay, Richard M. Murray. 2016 IEEE Conference on Control Applications (CCA).
• Model Predictive Control for Signal Temporal Logic Specifications. Vasumathi Raman, Alexandre Donze ́, Mehdi Maasoumy, Richard M. Murray, Alberto Sangiovanni-Vincentelli and Sanjit A. Seshia. Submitted, IEEE T. Automatic Control (2 Jan 2016).
• Identifying and exploiting tolerance to unexpected jumps in synthesized strategies for GR(1) specifications. Sumanth Dathathri, Scott C. Livingston and Richard M. Murray. Submitted, 2016 Conference on Decision and Control (CDC).
• Symbolic construction of GR(1) contracts for systems with full information. Ioannis Filippidis and Richard M. Murray. 2016 American Control Conference (ACC).
• Synthesis from multi-paradigm specifications. Ioannis Filippidis, Richard M. Murray and Gerard J. Holzmann. Submitted, 2015 Workshop on Synthesis (SYNT).
• Robust Model Predictive Control for Signal Temporal Logic Synthesis. Samira S. Farahani, Vasumathi Raman, and Richard M. Murray. 2015 IFAC Conference on Analysis and Design of Hybrid Systems (ADHS).
• Reactive Synthesis from Signal Temporal Logic Specifications. Vasumathi Raman, Alexandre Donze, Dorsa Sadigh, Richard M. Murray and Sanjit A. Seshia. 2015 International Conference on Hybrid Systems: Computation and Control (HSCC).
• Online Horizon Selection in Receding Horizon Temporal Logic Planning. Vasumathi Raman, Mattias Fält, Tichakorn Wongpiromsarn, Richard M. Murray. Submitted, 2015 International Conference on Hybrid Systems: Computation and Control (HSCC).
• Variable Elimination for Scalable Receding Horizon Temporal Logic Planning. Mattias Fält, Vasumathi Raman, Richard M. Murray. Submitted, 2015 American Control Conference (ACC).
• Exact Stability Analysis of Discrete-Time Linear Systems with Stochastic Delays. Marcella M. Gomez, Wubing B. Qin, Gabor Orosz and Richard M. Murray. Submitted, 2014 American Control Conference (ACC).
• Time-Delayed Feedback Channel Design: Discrete Time H infty Approach. Marcella M. Gomez, Seungil You and Richard M. Murray. Submitted, 2014 American Control Conference (ACC).
• Collaborative System Identification via Parameter Consensus. Ivan Papusha, Eugene Lavretsky and Richard M. Murray. 2014 American Control Conference (ACC).
• Vasu Raman, Mattias Falt, Tichakorn Wongpiromsarn, Richard Murray. Online Horizon Selection in Receding Horizon Temporal Logic Planning, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.
• Vasu Raman, Alexandre Donze, Dorsa Sadigh, Richard Murray, Sanjit A. Seshia. Reactive Synthesis from Signal Temporal Logic Specifications, Submitted to International Conference on Hybrid Systems: Computation and Control (HSCC), 2015.
• Vasu Raman, Eric Wolff. Mixed-Integer Linear Programming for Planning with Temporal Logic Tasks [Position Paper], AAAI-15 Workshop on Planning, Search, and Optimization, 2015.
• Ioannis Filippidis, Richard Murray. Strategy-Driven Partitioning into Switching Modes for Piecewise-Affine Systems with Continuous Environments, 53rd IEEE Conference on Decision and Control, IEEE, 15, December, 2014.
• Marcella Gomez, Wubing B. Qin, Gabor Orosz, Richard Murray. Exact Stability Analysis of Discrete-Time Linear Systems with Stochastic Delays, American Control Conference 2014, June, 2014.
• Pierluigi Nuzzo, Huan Xu, Necmiye Ozay, John B. Finn, Alberto Sangiovanni-Vincentelli, Richard Murray, Alexandre Donze, Sanjit A. Seshia. A Contract-Based Methodology for Aircraft Electric Power System Design, IEEE Access, March 2014.
• Ivan Papusha, Eugene Lavretsky, Richard Murray. Collaborative System Identification via Parameter Consensus, American Control Conference 2014, 2014.
• Vasu Raman, Alexandre Donze, Mehdi Maasoumy, Richard Murray, Alberto Sangiovanni-Vincentelli, Sanjit A. Seshia. Model Predictive Control with Signal Temporal Logic Specifications, 2014 IEEE 53rd Annual Conference on Decision and Control (CDC), 2014.
• Quentin Maillet, Huan Xu, Necmiye Ozay, Richard Murray. Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity, Conference on Decisions and Controls, IEEE, 10, December, 2013.