4 citations · 4 across the 7 of their papers we have counts for
12 papers
Mixed-Integer Programming for Signal Temporal Logic with Fewer Binary Variables
Vince Kurtz, Hai Lin
Signal Temporal Logic (STL) provides a convenient way of encoding complex control objectives for robotic and cyber-physical systems. The state-of-the-art in trajectory synthesis fo…
Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances
Zihao Song, Vince Kurtz, Shirantha Welikala +2
Piecewise affine (PWA) systems are widely applied in many practical cases such as the control of nonlinear systems and hybrid dynamics. However, most of the existing PWA control me…
Active Perception and Control from PrSTL Specifications
Rafael Rodrigues da Silva, Vince Kurtz, Hai Lin
Next-generation intelligent systems must plan and execute complex tasks with imperfect information about their environment. As a result, plans must also include actions to learn ab…
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control
Vince Kurtz, Patrick M. Wensing, Hai Lin
Task-space Passivity-Based Control (PBC) for manipulation has numerous appealing properties, including robustness to modeling error and safety for human-robot interaction. Existing…
Trajectory Optimization for High-Dimensional Nonlinear Systems under STL Specifications
Vince Kurtz, Hai Lin
Signal Temporal Logic (STL) has gained popularity in recent years as a specification language for cyber-physical systems, especially in robotics. Beyond being expressive and easy t…
Automatic Trajectory Synthesis for Real-Time Temporal Logic
Rafael Rodrigues da Silva, Vince Kurtz, Hai Lin
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through contro…