8 citations · 21 across the 9 of their papers we have counts for
10 papers
Taylor-Lagrange Neural Ordinary Differential Equations: Toward Fast Training and Evaluation of Neural ODEs
Franck Djeumou, Cyrus Neary, Eric Goubault +2
Neural ordinary differential equations (NODEs) -- parametrizations of differential equations using neural networks -- have shown tremendous promise in learning models of unknown co…
Neural Networks with Physics-Informed Architectures and Constraints for Dynamical Systems Modeling
Franck Djeumou, Cyrus Neary, Eric Goubault +2
Effective inclusion of physics-based knowledge into deep neural network models of dynamical systems can greatly improve data efficiency and generalization. Such a-priori knowledge…
Probabilistic Control of Heterogeneous Swarms Subject to Graph Temporal Logic Specifications: A Decentralized and Scalable Approach
Franck Djeumou, Zhe Xu, Murat Cubuktepe +1
We develop a probabilistic control algorithm, , for swarms of agents with heterogeneous dynamics and objectives, subject to high-level task specifications. The r…
Safety-Constrained Learning and Control using Scarce Data and Reciprocal Barriers
Christos K. Verginis, Franck Djeumou, Ufuk Topcu
We develop a control algorithm that ensures the safety, in terms of confinement in a set, of a system with unknown, 2nd-order nonlinear dynamics. The algorithm establishes novel co…
Task-Guided Inverse Reinforcement Learning Under Partial Information
Franck Djeumou, Murat Cubuktepe, Craig Lennon +1
We study the problem of inverse reinforcement learning (IRL), where the learning agent recovers a reward function using expert demonstrations. Most of the existing IRL techniques m…
On-The-Fly Control of Unknown Systems: From Side Information to Performance Guarantees through Reachability
Franck Djeumou, Abraham P. Vinod, Eric Goubault +2
We develop data-driven algorithms for reachability analysis and control of systems with a priori unknown nonlinear dynamics. The resulting algorithms not only are suitable for sett…
On-The-Fly Control of Unknown Smooth Systems from Limited Data
Franck Djeumou, Abraham P. Vinod, Eric Goubault +2
We investigate the problem of data-driven, on-the-fly control of systems with unknown nonlinear dynamics where data from only a single finite-horizon trajectory and possibly side i…
Blending Controllers via Multi-Objective Bandits
Parham Gohari, Franck Djeumou, Abraham P. Vinod +1
Safety and performance are often two competing objectives in sequential decision-making problems. Existing performant controllers, such as controllers derived from reinforcement le…
Policy Synthesis for Switched Linear Systems with Markov Decision Process Switching
Bo Wu, Murat Cubuktepe, Franck Djeumou +2
We study the synthesis of mode switching protocols for a class of discrete-time switched linear systems in which the mode jumps are governed by Markov decision processes (MDPs). We…
Online Synthesis for Runtime Enforcement of Safety in Multi-Agent Systems
Dhananjay Raju, Suda Bharadwaj, Ufuk Topcu
A shield is attached to a system to guarantee safety by correcting the system's behavior at runtime. Existing methods that employ design-time synthesis of shields do not scale to m…