44 citations · 111 across the 30 of their papers we have counts for
9 papers · 1 filter
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…
Technical Report on Optimal Linear Multiple Estimation for Landmark-Based Planning via Control Synthesis
Chenfei Wang, Roberto Tron
A common way to implement navigation in mobile robots is through the use of landmarks. In this case, the main goal of the controller is to make progress toward a goal location (sta…
Robust Control Barrier Functions for Nonlinear Control Systems with Uncertainty: A Duality-based Approach
Max H. Cohen, Calin Belta, Roberto Tron
This paper studies the design of controllers that guarantee stability and safety of nonlinear control affine systems with parametric uncertainty in both the drift and control vecto…
Adaptive Sampling-based Motion Planning with Control Barrier Functions
Ahmad Ahmad, Calin Belta, Roberto Tron
Sampling-based algorithms, such as Rapidly Exploring Random Trees (RRT) and its variants, have been used extensively for motion planning. Control barrier functions (CBFs) have been…
Output-Feedback Path Planning with Robustness to State-Dependent Errors
Mahroo Bahreinian, Roberto Tron
We consider the problem of sample-based feedback motion planning from measurements affected by systematic errors. Our previous work presented output feedback controllers that use m…