Petter Nilsson
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View article: Stow: Robotic Packing of Items into Fabric Pods
Stow: Robotic Packing of Items into Fabric Pods Open
This paper presents a compliant manipulation system capable of placing items onto densely packed shelves. The wide diversity of items and strict business requirements for high producing rates and low defect generation have prohibited wareh…
View article: Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems
Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems Open
Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency …
View article: A Scalable Safety Critical Control Framework for Nonlinear Systems
A Scalable Safety Critical Control Framework for Nonlinear Systems Open
There are two main approaches to safety-critical control. The first one relies on computation of control invariant sets and is presented in the first part of this work. The second approach draws from the topic of optimal control and relies…
View article: Multirobot Coordination With Counting Temporal Logics
Multirobot Coordination With Counting Temporal Logics Open
In many multirobot applications, planning trajectories in a way to guarantee that the collective behavior of the robots satisfies a certain high-level specification is crucial. Motivated by this problem, we introduce counting temporal logi…
View article: Intermittent Connectivity for Exploration in Communication-Constrained\n Multi-Agent Systems
Intermittent Connectivity for Exploration in Communication-Constrained\n Multi-Agent Systems Open
Motivated by exploration of communication-constrained underground\nenvironments using robot teams, we study the problem of planning for\nintermittent connectivity in multi-agent systems. We propose a novel concept of\ninformation-consisten…
View article: Using Control Synthesis to Generate Corner Cases: A Case Study on Autonomous Driving
Using Control Synthesis to Generate Corner Cases: A Case Study on Autonomous Driving Open
This paper employs correct-by-construction control synthesis, in particular controlled invariant set computations, for falsification. Our hypothesis is that if it is possible to compute a “large enough” controlled invariant set either for …
View article: Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams
Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams Open
As a step towards achieving autonomy in space exploration missions, we consider a cooperative robotics system consisting of a copter and a rover.The goal of the copter is to explore an unknown environment so as to maximize knowledge about …
View article: Nonuniform abstractions, refinement and controller synthesis with novel BDD encodings
Nonuniform abstractions, refinement and controller synthesis with novel BDD encodings Open
This paper presents a control synthesis algorithm for dynamical systems to satisfy specifications given in a fragment of linear temporal logic. It is based on an abstraction-refinement scheme with nonuniform partitions of the state space. …
View article: Nonuniform abstractions, refinement and controller synthesis with novel\n BDD encodings
Nonuniform abstractions, refinement and controller synthesis with novel\n BDD encodings Open
This paper presents a control synthesis algorithm for dynamical systems to\nsatisfy specifications given in a fragment of linear temporal logic. It is\nbased on an abstraction-refinement scheme with nonuniform partitions of the\nstate spac…
View article: Nonuniform abstractions, refinement and controller synthesis with novel BDD encodings
Nonuniform abstractions, refinement and controller synthesis with novel BDD encodings Open
This paper presents a control synthesis algorithm for dynamical systems to satisfy specifications given in a fragment of linear temporal logic. It is based on an abstraction-refinement scheme with nonuniform partitions of the state space. …
View article: Control Synthesis for Permutation-Symmetric High-Dimensional Systems\n With Counting Constraints
Control Synthesis for Permutation-Symmetric High-Dimensional Systems\n With Counting Constraints Open
General purpose correct-by-construction synthesis methods are limited to\nsystems with low dimensionality or simple specifications. In this work we\nconsider highly symmetrical counting problems and exploit the symmetry to\nsynthesize prov…
View article: Control Synthesis for Permutation-Symmetric High-Dimensional Systems With Counting Constraints
Control Synthesis for Permutation-Symmetric High-Dimensional Systems With Counting Constraints Open
General purpose correct-by-construction synthesis methods are limited to systems with low dimensionality or simple specifications. In this work we consider highly symmetrical counting problems and exploit the symmetry to synthesize provabl…
View article: On a Class of Maximal Invariance Inducing Control Strategies for Large Collections of Switched Systems
On a Class of Maximal Invariance Inducing Control Strategies for Large Collections of Switched Systems Open
Modern control synthesis methods that are capable of delivering safety guarantees typically rely on finding invariant sets. Computing and/or representing such sets becomes intractable for high-dimensional systems and often constitutes the …
View article: Provably-correct coordination of large collections of agents with counting temporal logic constraints
Provably-correct coordination of large collections of agents with counting temporal logic constraints Open
In this paper, we consider the problem of coordinating a large collection of homogeneous agents subject to a novel class of constraints: counting temporal logic constraints. Counting constraints arise naturally in many multi-agent planning…
View article: Kostnadsbesparingar i en alternativ distributionsstruktur - Bra! Men hur? : En fallstudie på Svenssons i Lammhult
Kostnadsbesparingar i en alternativ distributionsstruktur - Bra! Men hur? : En fallstudie på Svenssons i Lammhult Open
Bakgrund: Företag kan använda sig av flera olika distributionsprocesser för att leverera produkter till kunder och alla dessa distributionsprocesser innebär olika kostnader, förutsättningar och hinder. Distributionskostnaden består av tran…
View article: Synthesis of separable controlled invariant sets for modular local control design
Synthesis of separable controlled invariant sets for modular local control design Open
Many correct-by-construction control synthesis methods suffer from the curse of dimensionality. Motivated by this challenge, we seek to reduce a correct-by-construction control synthesis problem to subproblems of more modest dimension. As …
View article: Correct-by-Construction Adaptive Cruise Control: Two Approaches
Correct-by-Construction Adaptive Cruise Control: Two Approaches Open
Motivated by the challenge of developing control software provably meeting specifications for real-world problems, this paper applies formal methods to adaptive cruise control (ACC). Starting from a linear temporal logic specification for …
View article: Synthesis of separable controlled invariant sets for modular local\n control design
Synthesis of separable controlled invariant sets for modular local\n control design Open
Many correct-by-construction control synthesis methods suffer from the curse\nof dimensionality. Motivated by this challenge, we seek to reduce a\ncorrect-by-construction control synthesis problem to subproblems of more modest\ndimension. …