Sadra Sadraddini

Sadra Sadraddini
Massachusetts Institute of Technology | MIT · MIT Computer Science and Artificial Intelligence Laboratory

Ph.D.

About

41
Publications
3,271
Reads
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390
Citations
Introduction
Sadra Sadraddini currently works at the Department of Mechanical Engineering, Boston University. Sadra does research in formal methods approach to control theory. His current focus is on provably correct control of transportation systems.
Additional affiliations
February 2018 - present
Massachusetts Institute of Technology
Position
  • PostDoc Position
June 2014 - December 2017
Boston University
Position
  • Research Assistant
September 2013 - May 2014
Boston University
Position
  • Research Assistant
Description
  • Linear Algebra - Engineering Dynamics

Publications

Publications (41)
Article
Full-text available
We develop a method to control discrete-time systems with constant but initially unknown parameters from linear temporal logic (LTL) specifications. We introduce the notions of (non-deterministic) parametric and adaptive transition systems and show how to use tools from formal methods to compute adaptive control strategies for finite systems. For i...
Preprint
Autonomous robots typically incorporate complex sensors in their decision-making and control loops. These sensors, such as cameras and Lidars, have imperfections in their sensing and are influenced by environmental conditions. In this paper, we present a method for probabilistic verification of linearizable systems with Gaussian and Gaussian mixtur...
Article
We propose a method to control linear time-varying (LTV) discrete-time systems subject to bounded process disturbances and measurable outputs with bounded noise, and polyhedral constraints over system inputs and states. We search over control policies that map the history of measurable outputs to the current control input. We solve the problem in t...
Conference Paper
We develop an assume-guarantee framework for control of large scale linear (time-varying) systems from finite-time reach and avoid or infinite-time invariance specifications. The contracts describe the admissible set of states and controls for individual subsystems. A set of contracts compose correctly if mutual assumptions and guarantees match in...
Preprint
We develop an assume-guarantee framework for control of large scale linear (time-varying) systems from finite-time reach and avoid or infinite-time invariance specifications. The contracts describe the admissible set of states and controls for individual subsystems. A set of contracts compose correctly if mutual assumptions and guarantees match in...
Preprint
Full-text available
Ensuring constraint satisfaction in large-scale systems with hard constraints is vital in many safety critical systems. The challenge is to design controllers that are efficiently synthesized offline, easily implementable online, and provide formal correctness guarantees. In this paper, we provide a method to compute correct-by-construction control...
Chapter
Reinforcement learning is increasingly used to synthesize controllers for a broad range of applications. However, formal guarantees on the behavior of learning-based controllers are elusive due to the blackbox nature of machine learning models such as neural networks. In this paper, we propose an algorithm for verifying learning-based controllers—i...
Preprint
Full-text available
The polytope containment problem is deciding whether a polytope is a contained within another polytope. This problem is rooted in computational convexity, and arises in applications such as verification and control of dynamical systems. The complexity heavily depends on how the polytopes are represented. Describing polytopes by their hyperplanes (H...
Article
In control theory, complicated dynamics such as systems of (nonlinear) differential equations are controlled mostly to achieve stability. This fundamental property, which can be with respect to a desired operating point or a prescribed trajectory, is often linked with optimality, which requires minimizing a certain cost along the trajectories of a...
Preprint
Piecewise affine (PWA) systems are widely used to model highly nonlinear behaviors such as contact dynamics in robot locomotion and manipulation. Existing control techniques for PWA systems have computational drawbacks, both in offline design and online implementation. In this paper, we introduce a method to obtain feedback control policies and a c...
Preprint
Full-text available
Signal Temporal Logic (STL) is a formal language for describing a broad range of real-valued, temporal properties in cyber-physical systems. While there has been extensive research on verification and control synthesis from STL requirements, there is no formal framework for comparing two STL formulae. In this paper, we show that under mild assumpti...
Preprint
Full-text available
For many performance-critical control systems, an accurate (simple) model is not available in practice. Thus, designing controllers with formal performance guarantees is challenging. In this paper, we develop a framework to use input-output data from an unknown system to synthesize controllers from signal temporal logic (STL) speciications. First,...
Article
Full-text available
We introduce a class of distributed control policies for networks of discrete-time linear systems with polytopic additive disturbances. The objective is to restrict the network-level state and controls to user-specified polyhedral sets for all times. This problem arises in many safety-critical applications. We consider two problems. First, given a...
Article
Full-text available
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive disturbances, while ensuring that the length and the cruise speed of the platoon are bounded within specified range...
Conference Paper
Full-text available
We propose a formal methods approach to control traac signals optimally from speciications described by metric temporal logic (MTL). Since real-time optimization is computationally infeasible beyond small-scale networks, we use a divide and conquer approach. We decompose the network into smaller subnetworks and synthesize assume-guarantee contracts...
Article
Full-text available
We design controllers from formal specifications for positive discrete-time monotone systems that are subject to bounded disturbances. Such systems are widely used to model the dynamics of transportation and biological networks. The specifications are described using signal temporal logic (STL), which can express a broad range of temporal propertie...
Article
Full-text available
In this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range of time varying and complex spatial configurations, and develop a method to encode such formal specifications...
Article
Full-text available
Monotone systems, also known as order-preserving or cooperative systems, are prevalent in models of engineering applications such as transportation and biological networks. In this paper, we investigate the problem of finding a control strategy for a discrete time monotone system with bounded uncertainties such that the evolution of the system is g...
Article
Full-text available
Model predictive control (MPC) is a popular strategy for urban traffic management that is able to incorporate physical and user defined constraints. However, the current MPC methods rely on finite horizon predictions that are unable to guarantee desirable behaviors over long periods of time. In this paper we design an MPC strategy that is guarantee...
Article
Full-text available
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints given as formulas of signal temporal logic (STL). We introduce a (conservative) computationally efficient fram...

Projects

Projects (2)
Archived project
Robust Control from Signal Temporal Logic (STL) specifications for discrete time linear systems with additive disturbances