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04/13/2023
Robustness Measures and Monitors for Time Window Temporal Logic
Temporal logics (TLs) have been widely used to formalize interpretable t...
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04/03/2023
Efficient LQR-CBF-RRT*: Safe and Optimal Motion Planning
Control Barrier Functions (CBF) are a powerful tool for designing safety...
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12/01/2022
Learning for Control of Rolling ubots
Micron-scale robots (ubots) have recently shown great promise for emergi...
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06/01/2022
Adaptive Sampling-based Motion Planning with Control Barrier Functions
Sampling-based algorithms, such as Rapidly Exploring Random Trees (RRT) ...
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03/08/2022
Distributed Control using Reinforcement Learning with Temporal-Logic-Based Reward Shaping
We present a computational framework for synthesis of distributed contro...
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03/03/2022
High Order Robust Adaptive Control Barrier Functions and Exponentially Stabilizing Adaptive Control Lyapunov Functions
This paper studies the problem of utilizing data-driven adaptive control...
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01/28/2022
Overcoming Exploration: Deep Reinforcement Learning in Complex Environments from Temporal Logic Specifications
We present a Deep Reinforcement Learning (DRL) algorithm for a task-guid...
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12/28/2021
Time-Incremental Learning from Data Using Temporal Logics
Real-time and human-interpretable decision-making in cyber-physical syst...
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12/20/2021
Learning Spatio-Temporal Specifications for Dynamical Systems
Learning dynamical systems properties from data provides important insig...
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10/01/2021
Classification of Time-Series Data Using Boosted Decision Trees
Time-series data classification is central to the analysis and control o...
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07/28/2021
The Reasonable Crowd: Towards evidence-based and interpretable models of driving behavior
Autonomous vehicles must balance a complex set of objectives. There is n...
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07/15/2021
Rule-based Evaluation and Optimal Control for Autonomous Driving
We develop optimal control strategies for autonomous vehicles (AVs) that...
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05/24/2021
Inferring Temporal Logic Properties from Data using Boosted Decision Trees
Many autonomous systems, such as robots and self-driving cars, involve r...
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05/06/2021
A Control Architecture for Provably-Correct Autonomous Driving
This paper presents a novel two-level control architecture for a fully a...
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04/16/2021
Safe Exploration in Model-based Reinforcement Learning using Control Barrier Functions
This paper studies the problem of developing an approximate dynamic prog...
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04/06/2021
Neural Network-based Control for Multi-Agent Systems from Spatio-Temporal Specifications
We propose a framework for solving control synthesis problems for multi-...
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03/29/2021
Model-Based Safe Policy Search from Signal Temporal Logic Specifications Using Recurrent Neural Networks
We propose a policy search approach to learn controllers from specificat...
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03/29/2021
Event-Triggered Safety-Critical Control for Systems with Unknown Dynamics
This paper addresses the problem of safety-critical control for systems ...
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03/25/2021
Experimental Validation of Linear and Nonlinear MPC on an Articulated Unmanned Ground Vehicle
This paper focuses on the trajectory tracking control problem for an art...
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01/14/2021
Rule-based Optimal Control for Autonomous Driving
We develop optimal control strategies for Autonomous Vehicles (AVs) that...
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11/16/2020
Sufficient Conditions for Feasibility of Optimal Control Problems Using Control Barrier Functions
It has been shown that satisfying state and control constraints while op...
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09/24/2020
Recurrent Neural Network Controllers for Signal Temporal Logic Specifications Subject to Safety Constraints
We propose a framework based on Recurrent Neural Networks (RNNs) to dete...
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02/11/2020
Adaptive Control Barrier Functions for Safety-Critical Systems
Recent work showed that stabilizing affine control systems to desired (s...
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10/29/2019
Distributed and Consistent Multi-Image Feature Matching via QuickMatch
In this work we consider the multi-image object matching problem, extend...
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09/03/2019
Average-based Robustness for Continuous-Time Signal Temporal Logic
We propose a new robustness score for continuous-time Signal Temporal Lo...
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07/15/2019
Sampling-based Motion Planning via Control Barrier Functions
Robot motion planning is central to real-world autonomous applications, ...
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03/23/2019
Temporal Logic Guided Safe Reinforcement Learning Using Control Barrier Functions
Using reinforcement learning to learn control policies is a challenge wh...
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03/12/2019
Arithmetic-Geometric Mean Robustness for Control from Signal Temporal Logic Specifications
We present a new average-based robustness score for Signal Temporal Logi...
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03/12/2019
Control Barrier Functions for Systems with High Relative Degree
This paper extends control barrier functions (CBFs) to high order contro...
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02/11/2019
Reactive Control Meets Runtime Verification: A Case Study of Navigation
This paper presents an application of specification based runtime verifi...
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09/17/2018
Automata Guided Reinforcement Learning With Demonstrations
Tasks with complex temporal structures and long horizons pose a challeng...
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08/01/2018
Metrics for Signal Temporal Logic Formulae
Signal Temporal Logic (STL) is a formal language for describing a broad ...
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10/31/2017
Automata Guided Hierarchical Reinforcement Learning for Zero-shot Skill Composition
An obstacle that prevents the wide adoption of (deep) reinforcement lear...
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09/27/2017
A Policy Search Method For Temporal Logic Specified Reinforcement Learning Tasks
Reward engineering is an important aspect of reinforcement learning. Whe...
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12/11/2016
Reinforcement Learning With Temporal Logic Rewards
Reinforcement learning (RL) depends critically on the choice of reward f...
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06/20/2016
A Hierarchical Reinforcement Learning Method for Persistent Time-Sensitive Tasks
Reinforcement learning has been applied to many interesting problems suc...
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09/12/2014
A Formal Methods Approach to Pattern Synthesis in Reaction Diffusion Systems
We propose a technique to detect and generate patterns in a network of l...
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09/09/2013