44 citations · 111 across the 30 of their papers we have counts for
34 papers
Robustness Measures and Monitors for Time Window Temporal Logic
Ahmad Ahmad, Cristian-Ioan Vasile, Roberto Tron +1
Temporal logics (TLs) have been widely used to formalize interpretable tasks for cyber-physical systems. Time Window Temporal Logic (TWTL) has been recently proposed as a specifica…
LQR-CBF-RRT*: Safe and Optimal Motion Planning
Guang Yang, Mingyu Cai, Ahmad Ahmad +3
We present LQR-CBF-RRT*, an incremental sampling-based algorithm for offline motion planning. Our framework leverages the strength of Control Barrier Functions (CBFs) and Linear Qu…
HoLA Robots: Mitigating Plan-Deviation Attacks in Multi-Robot Systems with Co-Observations and Horizon-Limiting Announcements
Kacper Wardega, Max von Hippel, Roberto Tron +2
Emerging multi-robot systems rely on cooperation between humans and robots, with robots following automatically generated motion plans to service application-level tasks. Given the…
Byzantine Resilience at Swarm Scale: A Decentralized Blocklist Protocol from Inter-robot Accusations
Kacper Wardega, Max von Hippel, Roberto Tron +2
The Weighted-Mean Subsequence Reduced (W-MSR) algorithm, the state-of-the-art method for Byzantine-resilient design of decentralized multi-robot systems, is based on discarding out…
A Graph-Based Approach to Generate Energy-Optimal Robot Trajectories in Polygonal Environments
Logan E. Beaver, Roberto Tron, Christos G. Cassandras
As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate…
Learning Signal Temporal Logic through Neural Network for Interpretable Classification
Danyang Li, Mingyu Cai, Cristian-Ioan Vasile +1
Machine learning techniques using neural networks have achieved promising success for time-series data classification. However, the models that they produce are challenging to veri…