Safety by Invariance, Liveness through Refinement: Heterogeneous Contract Framework for Co-Design of Layered Control

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Bibliographic Details
Main Authors:	Takayama, Yoshinari, Iovine, Alessio, Besselink, Bart, Sandou, Guillaume, Saoud, Adnane
Format:	Preprint
Published:	2026
Subjects:	Systems and Control Robotics
Online Access:	Acceder al recurso
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Internet

https://arxiv.org/abs/2605.04222