Layered Control of Partially Observed Stochastic Systems

arXiv:2604.11956 · eess.SY, cs.SY · Submitted 2026-04-13 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-04-13

Updated: 2026-09-17

Comments: added code link and acknowledgements

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Unmanned Aerial Vehicle — 4× in this paper
• Abstraction — 2× in this paper · explained in 1 episode
• Hybrid System — 2× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• American Control Conference — 1× in this paper
• Conference on Decision and Control — 1× in this paper
• Consistency — 1× in this paper · explained in 3 episodes
• Linear Quadratic Gaussian — 1× in this paper
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Optimal Transport — 1× in this paper · explained in 5 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Stochastic Dynamics — 1× in this paper · explained in 2 episodes

Sources

• Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control
• Specification-guided temporal logic control for stochastic systems: a multi-layered approach
• Observer-based correct-by-design controller synthesis
• Layered Multirate Control of Constrained Linear Systems

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