  We consider the computation of resilient controllers for perturbed non-linear
dynamical systems w.r.t. linear-time temporal logic specifications. We address
this problem through the paradigm of Abstraction-Based Controller Design (ABCD)
where a finite state abstraction of the perturbed system dynamics is
constructed and utilized for controller synthesis. In this context, our
contribution is twofold: (I) We construct abstractions which model the impact
of occasional high disturbance spikes on the system via so called disturbance
edges. (II) We show that the application of resilient reactive synthesis
techniques to these abstract models results in closed loop systems which are
optimally resilient to these occasional high disturbance spikes. We have
implemented this resilient ABCD workflow on top of SCOTS and showcase our
method through multiple robot planning examples.
