32 citations · 92 across the 26 of their papers we have counts for
9 papers · 1 filter
Co-Design of Topology, Scheduling, and Path Planning in Automated Warehouses
Christopher Leet, Chanwook Oh, Michele Lora +2
We address the warehouse servicing problem (WSP) in automated warehouses, which use teams of mobile agents to bring products from shelves to packing stations. Given a list of produ…
Control Barrier Function Contracts for Vehicular Mission Planning Under Signal Temporal Logic Specifications
Muhammad Waqas, Nikhil Vijay Naik, Petros Ioannou +1
We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approa…
Correct-By-Construction Design of Adaptive Cruise Control with Control Barrier Functions Under Safety and Regulatory Constraints
Muhammad Waqas, Muhammad Ali Murtaza, Pierluigi Nuzzo +1
The safety-critical nature of adaptive cruise control (ACC) systems calls for systematic design procedures, e.g., based on formal methods or control barrier functions (CBFs), to pr…
Optimal Control of Partially Observable Markov Decision Processes with Finite Linear Temporal Logic Constraints
Krishna C. Kalagarla, Dhruva Kartik, Dongming Shen +3
Autonomous agents often operate in scenarios where the state is partially observed. In addition to maximizing their cumulative reward, agents must execute complex tasks with rich t…
Model-Free Reinforcement Learning for Optimal Control of MarkovDecision Processes Under Signal Temporal Logic Specifications
Krishna C. Kalagarla, Rahul Jain, Pierluigi Nuzzo
We present a model-free reinforcement learning algorithm to find an optimal policy for a finite-horizon Markov decision process while guaranteeing a desired lower bound on the prob…
Synthesis of Discounted-Reward Optimal Policies for Markov Decision Processes Under Linear Temporal Logic Specifications
Krishna C. Kalagarla, Rahul Jain, Pierluigi Nuzzo
We present a method to find an optimal policy with respect to a reward function for a discounted Markov decision process under general linear temporal logic (LTL) specifications. P…
Stochastic Assume-Guarantee Contracts for Cyber-Physical System Design Under Probabilistic Requirements
Jiwei Li, Pierluigi Nuzzo, Alberto Sangiovanni-Vincentelli +2
We develop an assume-guarantee contract framework for the design of cyber-physical systems, modeled as closed-loop control systems, under probabilistic requirements. We use a varia…
Diagnosis and Repair for Synthesis from Signal Temporal Logic Specifications
Shromona Ghosh, Dorsa Sadigh, Pierluigi Nuzzo +5
We address the problem of diagnosing and repairing specifications for hybrid systems formalized in signal temporal logic (STL). Our focus is on the setting of automatic synthesis o…
Platform-Based Design Methodology and Modeling for Aircraft Electric Power Systems
Pierluigi Nuzzo, John Finn, Mohammad Mozumdar +1
In an aircraft electric power system (EPS), a supervisory control unit must actuate a set of switches to distribute power from generators to loads, while satisfying safety, reliabi…