4 citations · 16 across the 29 of their papers we have counts for
5 papers · 1 filter
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…
A Smooth Robustness Measure of Signal Temporal Logic for Symbolic Control
Yann Gilpin, Vince Kurtz, Hai Lin
Recent years have seen an increasing use of Signal Temporal Logic (STL) as a formal specification language for symbolic control, due to its expressiveness and closeness to natural…
Approximate Simulation for Template-Based Whole-Body Control
Vince Kurtz, Patrick M. Wensing, Hai Lin
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics…
Robust Approximate Simulation for Hierarchical Control of Linear Systems under Disturbances
Vince Kurtz, Patrick M. Wensing, Hai Lin
Approximate simulation, an extension of simulation relations from formal methods to continuous systems, is a powerful tool for hierarchical control of complex systems. Finding an a…