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We focus on the control and the synthesis of secure timed systems which are modelled as timed automata. The security property that the system must satisfy is anon-interferenceproperty. Intuitively, non-interference ensures the absence of any causal dependency from a high-level domain to a lower level domain. Various notions of non-interference have been defined in the literature, and in this paper, we focus onstrong non-deterministic non-interference(SNNI) and two (bi)simulation-based variants thereof (cosimulation-based SNNI and bisimulation-based SNNI). These properties and their extensions have been mostly studied in the context of discrete event systems, while it is now well-known that time is an important attack vector against secure systems. At the same time, there is an obvious interest in going beyond simple verification to control problems: to be able to automatically make systems secure. We consider non-interference properties in the challenging setting of control of dense-time systems specified bytimed automataand we study the two following problems: (1) check whether it is possible to find a sub-system so that it is non-interferent; if yes, (2) compute a (largest) sub-system which is non-interferent. We exhibit decidable sub-classes for these problems, assess their theoretical complexities and provide effective algorithms based on the classical framework of timed games. [ABSTRACT FROM AUTHOR]

Abstract: In this paper, finite-time position consensus and collision avoidance problems are investigated for multi-AUV (autonomous underwater vehicle) systems. First, based on the homogeneous control method, finite-time position consensus algorithms are proposed for both leaderless and leader–follower multi-AUV systems without considering collisions between the AUVs. Specifically, in the leader–follower case, a novel distributed finite-time observer is developed for the followers to estimate the leader’s velocity. Second, by constructing collision avoidance and connectivity maintenance functions, modified consensus algorithms containing corresponding gradient terms are presented for multi-AUV systems of both cases, which guarantee collision avoidance, connectivity maintenance, velocity matching, and consensus boundedness. Simulations demonstrate the effectiveness of the proposed control algorithms. [Copyright &y& Elsevier]