21 citations · 129 across the 42 of their papers we have counts for
7 papers · 1 filter
Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations
Lars Lindemann, Alexander Robey, Lejun Jiang +3
This paper addresses learning safe output feedback control laws from partial observations of expert demonstrations. We assume that a model of the system dynamics and a state estima…
Reactive and Risk-Aware Control for Signal Temporal Logic
Lars Lindemann, George J. Pappas, Dimos V. Dimarogonas
The deployment of autonomous systems in uncertain and dynamic environments has raised fundamental questions. Addressing these is pivotal to build fully autonomous systems and requi…
Robust Motion Planning in the Presence of Estimation Uncertainty
Lars Lindemann, Matthew Cleaveland, Yiannis Kantaros +1
Motion planning is a fundamental problem and focuses on finding control inputs that enable a robot to reach a goal region while safely avoiding obstacles. However, in many situatio…
Time-Robust Control for STL Specifications
Alena Rodionova, Lars Lindemann, Manfred Morari +1
We present a robust control framework for time-critical systems in which satisfying real-time constraints robustly is of utmost importance for the safety of the system. Signal Temp…
STL Robustness Risk over Discrete-Time Stochastic Processes
Lars Lindemann, Nikolai Matni, George J. Pappas
We present a framework to interpret signal temporal logic (STL) formulas over discrete-time stochastic processes in terms of the induced risk. Each realization of a stochastic proc…
Barrier Function-based Collaborative Control of Multiple Robots under Signal Temporal Logic Tasks
Lars Lindemann, Dimos V. Dimarogonas
Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal lo…