21 citations · 129 across the 42 of their papers we have counts for
37 papers · 1 filter
Multi-Agent Temporal Logic Planning via Penalty Functions and Block-Coordinate Optimization
Eleftherios E. Vlahakis, Arash Bahari Kordabad, Lars Lindemann +3
Multi-agent planning under Signal Temporal Logic (STL) is often hindered by collaborative tasks that lead to computational challenges due to the inherent high dimensionality of the…
Sampling-Based Planning Under STL Specifications: A Forward Invariance Approach
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We propose a variant of the Rapidly Exploring Random Tree Star (RRT) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a…
Conformal Data-driven Control of Stochastic Multi-Agent Systems under Collaborative Signal Temporal Logic Specifications
Eleftherios E. Vlahakis, Lars Lindemann, Dimos V. Dimarogonas
We address control synthesis of stochastic discrete-time linear multi-agent systems under jointly chance-constrained collaborative signal temporal logic specifications in a distrib…
Data-Driven Distributionally Robust Control for Interacting Agents under Logical Constraints
Arash Bahari Kordabad, Eleftherios E. Vlahakis, Lars Lindemann +3
In this paper, we propose a distributionally robust control synthesis for an agent with stochastic dynamics that interacts with other agents under uncertainties and constraints exp…
Conformal Prediction for Distribution-free Optimal Control of Linear Stochastic Systems
Eleftherios E. Vlahakis, Lars Lindemann, Pantelis Sopasakis +1
We address an optimal control problem for linear stochastic systems with unknown noise distributions and joint chance constraints using conformal prediction. Our approach involves…
A Communication Consistent Approach to Signal Temporal Logic Task Decomposition in Multi-Agent Systems
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited…
Decentralized Control of Multi-Agent Systems Under Acyclic Spatio-Temporal Task Dependencies
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies. Specifica…
Distributionally Robust Control for Chance-Constrained Signal Temporal Logic Specifications
Arash Bahari Kordabad, Eleftherios E. Vlahakis, Lars Lindemann +2
We consider distributionally robust optimal control of stochastic linear systems under signal temporal logic (STL) chance constraints when the disturbance distribution is unknown.…
Probabilistic Tube-based Control Synthesis of Stochastic Multi-Agent Systems under Signal Temporal Logic
Eleftherios E. Vlahakis, Lars Lindemann, Pantelis Sopasakis +1
We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefine…
Communication-Constrained STL Task Decomposition through Convex Optimization
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
In this work, we propose a method to decompose signal temporal logic (STL) tasks for multi-agent systems subject to constraints imposed by the communication graph. Specifically, we…
Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints (extended version)
Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis +1
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unli…
Distributed Sequential Receding Horizon Control of Multi-Agent Systems under Recurring Signal Temporal Logic
Eleftherios E. Vlahakis, Lars Lindemann, Dimos V. Dimarogonas
We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently ove…
Conformance Testing for Stochastic Cyber-Physical Systems
Xin Qin, Navid Hashemi, Lars Lindemann +1
Conformance is defined as a measure of distance between the behaviors of two dynamical systems. The notion of conformance can accelerate system design when models of varying fideli…
Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach
Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis +1
This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that t…
Efficient STL Control Synthesis under Asynchronous Temporal Robustness Constraints
Xinyi Yu, Xiang Yin, Lars Lindemann
In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous…
Combined Left and Right Temporal Robustness for Control under STL Specifications
Alëna Rodionova, Lars Lindemann, Manfred Morari +1
Many modern autonomous systems, particularly multi-agent systems, are time-critical and need to be robust against timing uncertainties. Previous works have studied left and right t…
Conformal Prediction Regions for Time Series using Linear Complementarity Programming
Matthew Cleaveland, Insup Lee, George J. Pappas +1
Conformal prediction is a statistical tool for producing prediction regions of machine learning models that are valid with high probability. However, applying conformal prediction…
Safe Perception-Based Control under Stochastic Sensor Uncertainty using Conformal Prediction
Shuo Yang, George J. Pappas, Rahul Mangharam +1
We consider perception-based control using state estimates that are obtained from high-dimensional sensor measurements via learning-enabled perception maps. However, these percepti…
Conformal Prediction for STL Runtime Verification
Lars Lindemann, Xin Qin, Jyotirmoy V. Deshmukh +1
We are interested in predicting failures of cyber-physical systems during their operation. Particularly, we consider stochastic systems and signal temporal logic specifications, an…
Risk Verification of Stochastic Systems with Neural Network Controllers
Matthew Cleaveland, Lars Lindemann, Radoslav Ivanov +1
Motivated by the fragility of neural network (NN) controllers in safety-critical applications, we present a data-driven framework for verifying the risk of stochastic dynamical sys…
Risk of Stochastic Systems for Temporal Logic Specifications
Lars Lindemann, Lejun Jiang, Nikolai Matni +1
The wide availability of data coupled with the computational advances in artificial intelligence and machine learning promise to enable many future technologies such as autonomous…
Risk-Bounded Temporal Logic Control of Continuous-Time Stochastic Systems
Sleiman Safaoui, Lars Lindemann, Iman Shames +1
Motivated by the recent interest in risk-aware control, we study a continuous-time control synthesis problem to bound the risk that a stochastic linear system violates a given spec…
Temporal Robustness of Temporal Logic Specifications: Analysis and Control Design
Alëna Rodionova, Lars Lindemann, Manfred Morari +1
We study the temporal robustness of temporal logic specifications and show how to design temporally robust control laws for time-critical control systems. This topic is of particul…
Temporal Robustness of Stochastic Signals
Lars Lindemann, Alena Rodionova, George J. Pappas
We study the temporal robustness of stochastic signals. This topic is of particular interest in interleaving processes such as multi-agent systems where communication and individua…