Difference between revisions of "EECI-IGSC 2020"

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* Date and location: 18-22 May 2013, Belgrade (Serbia)
* Date and location: 18-22 May 2013, Belgrade (Serbia)
* Sponsor: [http://www.eeci-institute.eu/GSC2013 HYCON-EECI Graduate School on Control]
* Sponsor: [http://www.eeci-institute.eu/GSC2013 HYCON-EECI Graduate School on Control]
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== Lecture Schedule ==
== Lecture Schedule ==
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|Title  
|Title  
|Topics
|Topics
{{eeci13 entry|L1|RM|Mon, 9:00|Introduction: Protocol-Based Control Systems|
{{eeci2020 entry|L1|RM|Mon, 9:00|Introduction: Protocol-Based Control Systems|
* Introduction to networked control systems (NCS)
* Introduction to networked control systems (NCS)
* Overview of control "protocols"
* Overview of control "protocols"
* Examples: Alice, RoboFlag
* Examples: Alice, RoboFlag
}}
}}
{{eeci13 entry|L2|UT|Mon, 11:00|Automata Theory|
{{eeci2020 entry|L2|UT|Mon, 11:00|Automata Theory|
* Finite transition systems
* Finite transition systems
* Paths, traces and composition of finite transition systems
* Paths, traces and composition of finite transition systems
Line 44: Line 48:
* Examples: traffic light
* Examples: traffic light
}}
}}
{{eeci13 entry|L3|RM|Mon, 14:00|Temporal Logic|
{{eeci2020 entry|L3|RM|Mon, 14:00|Temporal Logic|
* Linear temporal logic
* Linear temporal logic
* Omega regular properties
* Omega regular properties
Line 50: Line 54:
* Examples: traffic light, (RoboFlag), autonomous driving
* Examples: traffic light, (RoboFlag), autonomous driving
}}
}}
{{eeci13 entry|L4|UT|Mon, 16:00|Model Checking and Logic Synthesis|
{{eeci2020 entry|L4|UT|Mon, 16:00|Model Checking and Logic Synthesis|
* Basic concepts in model checking
* Basic concepts in model checking
* Use of model checking for logic synthesis
* Use of model checking for logic synthesis
* Examples: traffic light, farmer puzzle
* Examples: traffic light, farmer puzzle
}}
}}
{{eeci13 entry|C1|RM|Tue, 9:00 <br> Tue, 11:00|Computer Session: Spin|
{{eeci2020 entry|C1|RM|Tue, 9:00 <br> Tue, 11:00|Computer Session: Spin|
* Introduction to Promela and Spin (statements, processes, messages)
* Introduction to Promela and Spin (statements, processes, messages)
* Verification examples: traffic light, distributed traffic light, gcdrive
* Verification examples: traffic light, distributed traffic light, gcdrive
* Synthesis examples: traffic light, farmer puzzle, robot navigation
* Synthesis examples: traffic light, farmer puzzle, robot navigation
}}
}}
{{eeci13 entry|L5|RM (1h)|Wed, 9:00|Deductive Verification of Hybrid Systems|
{{eeci2020 entry|L5|RM (1h)|Wed, 9:00|Deductive Verification of Hybrid Systems|
* Brief introduction to hybrid systems and verification techniques (deductive, algorithmic)
* Brief introduction to hybrid systems and verification techniques (deductive, algorithmic)
* Deductive verification using barrier certificates
* Deductive verification using barrier certificates
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* Examples: multi-agent systems, RoboFlag
* Examples: multi-agent systems, RoboFlag
}}
}}
{{eeci13 entry|L6|UT (2h)|Wed, 11:00|Algorithmic Verification of Hybrid Systems|
{{eeci2020 entry|L6|UT (2h)|Wed, 11:00|Algorithmic Verification of Hybrid Systems|
* Abstraction hierarchies for control systems
* Abstraction hierarchies for control systems
* Finite state abstractions (discretization) and model checking
* Finite state abstractions (discretization) and model checking
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* Examples: gear changing (?), ???
* Examples: gear changing (?), ???
}}
}}
{{eeci13 entry|L7|RM (2h)|Wed, 14:00|Synthesis of Reactive Control Protocols|
{{eeci2020 entry|L7|RM (2h)|Wed, 14:00|Synthesis of Reactive Control Protocols|
* Open system and reactive system synthesis
* Open system and reactive system synthesis
* Satisfiability, realizability
* Satisfiability, realizability
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* Examples: runner-blocker
* Examples: runner-blocker
}}
}}
{{eeci13 entry|L8|UT(1h)|Wed, 16:00|Receding Horizon Temporal Logic Planning|
{{eeci2020 entry|L8|UT(1h)|Wed, 16:00|Receding Horizon Temporal Logic Planning|
* Receding horizon control
* Receding horizon control
* Examples: reactive motion planning
* Examples: reactive motion planning
}}
}}
{{eeci13 entry|C2|UT|Thu, 9:00 <br> Thu, 11:00|Computer Session: TuLiP|
{{eeci2020 entry|C2|UT|Thu, 9:00 <br> Thu, 11:00|Computer Session: TuLiP|
* Introduction to TuLiP
* Introduction to TuLiP
* Synthesis of protocols for discrete systems
* Synthesis of protocols for discrete systems
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* Examples: reactive motion planning
* Examples: reactive motion planning
}}
}}
{{eeci13 entry|L9|UT|Fri, 9:00|Advanced Topics|
{{eeci2020 entry|L9|UT|Fri, 9:00|Advanced Topics|
* Distributed protocols
* Distributed protocols
* Switched systems
* Switched systems
* Optimal synthesis
* Optimal synthesis
}}
}}
{{eeci13 entry|L10|RM|Fri, 11:00|Summary and Open Questions|
{{eeci2020 entry|L10|RM|Fri, 11:00|Summary and Open Questions|
* Review of control trends and course contents
* Review of control trends and course contents
* Discussion of open problem areas and preliminary results
* Discussion of open problem areas and preliminary results

Revision as of 14:20, 5 December 2019

Eecilogo.png Specification, Design, and Verification
 
Cdslogo.png
of Networked Control Systems
 

Richard M. Murray and Nok Wongpiromsarn

9-13 March 2020, Instanbul

Course Description

Increases in fast and inexpensive computing and communications have enabled a new generation of information-rich control systems that rely on multi-threaded networked execution, distributed optimization, sensor fusion and protocol stacks in increasingly sophisticated ways. This course will provide working knowledge of a collection of methods and tools for specifying, designing and verifying networked control systems. We combine methods from computer science (temporal logic, model checking, synthesis of control protocols) with those from dynamical systems and control (Lyapunov functions, trajectory generation, receding horizon control) to analyze and design partially asynchronous control protocols for continuous systems. In addition to introducing the mathematical techniques required to formulate problems and prove properties, we also describe a software toolbox (TuLiP) that is designed for analyzing and synthesizing hybrid control systems using linear temporal logic and robust performance specifications.

Reading

The following papers and textbooks will be used heavily throughout the course:

Additional references for individual topics are included on the individual lecture pages.

Course information

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Lecture Schedule

The schedule below lists the lectures that will be given as part of the course. Each lecture will last approximately 90 minutes. The individual lecture pages give an overview of the lecture and links to additional information.

Lec Date/time Title Topics
L1
RM
Mon, 9:00 Introduction: Protocol-Based Control Systems
  • Introduction to networked control systems (NCS)
  • Overview of control "protocols"
  • Examples: Alice, RoboFlag
L2
UT
Mon, 11:00 Automata Theory
  • Finite transition systems
  • Paths, traces and composition of finite transition systems
  • Linear time properties; safety and liveness
  • Examples: traffic light
L3
RM
Mon, 14:00 Temporal Logic
  • Linear temporal logic
  • Omega regular properties
  • Buchi automata, representation of LTL using NBA
  • Examples: traffic light, (RoboFlag), autonomous driving
L4
UT
Mon, 16:00 Model Checking and Logic Synthesis
  • Basic concepts in model checking
  • Use of model checking for logic synthesis
  • Examples: traffic light, farmer puzzle
C1
RM
Tue, 9:00
Tue, 11:00
Computer Session: Spin
  • Introduction to Promela and Spin (statements, processes, messages)
  • Verification examples: traffic light, distributed traffic light, gcdrive
  • Synthesis examples: traffic light, farmer puzzle, robot navigation
L5
RM (1h)
Wed, 9:00 Deductive Verification of Hybrid Systems
  • Brief introduction to hybrid systems and verification techniques (deductive, algorithmic)
  • Deductive verification using barrier certificates
  • Guarded command languages and CCL for asynchronous control protocols
  • Examples: multi-agent systems, RoboFlag
L6
UT (2h)
Wed, 11:00 Algorithmic Verification of Hybrid Systems
  • Abstraction hierarchies for control systems
  • Finite state abstractions (discretization) and model checking
  • Discretization of continuous state systems
  • Approximate bi-simulation (if time)
  • Examples: gear changing (?), ???
L7
RM (2h)
Wed, 14:00 Synthesis of Reactive Control Protocols
  • Open system and reactive system synthesis
  • Satisfiability, realizability
  • Game structures, reachability/safety games
  • Mu-calculus (if time) and GR(1) games
  • Examples: runner-blocker
L8
UT(1h)
Wed, 16:00 Receding Horizon Temporal Logic Planning
  • Receding horizon control
  • Examples: reactive motion planning
C2
UT
Thu, 9:00
Thu, 11:00
Computer Session: TuLiP
  • Introduction to TuLiP
  • Synthesis of protocols for discrete systems
  • Discretization of continuous systems (and protocol synthesis)
  • Examples: reactive motion planning
L9
UT
Fri, 9:00 Advanced Topics
  • Distributed protocols
  • Switched systems
  • Optimal synthesis
L10
RM
Fri, 11:00 Summary and Open Questions
  • Review of control trends and course contents
  • Discussion of open problem areas and preliminary results
    • Optimization-based techniques
    • Probabilistic techniques
    • Others: Robustness, switching systems, timed systems
  • Examples: robot motion planning, electric power systems (timed)

Software Installation

We will make use of two programs during the lab sessions:

  • Spin - model checker for formal verification of distributed systems
  • TuLiP - python-based toolbox for temporal logic planning and controller synthesis

During the course, we will access these programs on a remote machine using ssh. For some parts of the course it will be useful to have a local installation of MATLAB that can be used for visualizing some simulation results.

If you would like to install the software on your own, here are some basic directions for installing the two packages:

  • Spin: if you are using Windows, you can download a binary installation. For Mac's, you need to compile from source. For this you will need a C compiler, such as the one that is part of the Xcode developer toolbox
  • TuLiP: you will need a python installation (2.6 or greater) with SciPy (0.9 or greater) installed. You might consider using the Enthought Python distribution. Once you have scipy installed, you will need to install several other python packages, including cvxopt and yices. A list of required package is available on the TuLiP project page.