17 citations · 50 across the 11 of their papers we have counts for
11 papers
Patching Control Lyapunov Barrier Functions for Temporal Logic Specifications with Bounded Controls
Ruikun Zhou, Yating Yuan, Haocheng Chang +2
We propose an abstraction-free framework for controller synthesis for continuous-time dynamical systems subject to Linear Temporal Logic (LTL) specifications and bounded control in…
A Piecewise Learning Framework for Control of Unknown Nonlinear Systems with Stability Guarantees
Milad Farsi, Yinan Li, Ye Yuan +1
We propose a piecewise learning framework for controlling nonlinear systems with unknown dynamics. While model-based reinforcement learning techniques in terms of some basis functi…
A Specification-Guided Framework for Temporal Logic Control of Nonlinear Systems
Yinan Li, Zhibing Sun, Jun Liu
This paper proposes a specification-guided framework for control of nonlinear systems with linear temporal logic (LTL) specifications. In contrast with well-known abstraction-based…
Learning Control Barrier Functions with High Relative Degree for Safety-Critical Control
Chuanzheng Wang, Yinan Li, Yiming Meng +2
Control barrier functions have shown great success in addressing control problems with safety guarantees. These methods usually find the next safe control input by solving an onlin…
Smooth Converse Lyapunov-Barrier Theorems for Asymptotic Stability with Safety Constraints and Reach-Avoid-Stay Specifications
Yiming Meng, Yinan Li, Maxwell Fitzsimmons +1
Stability and safety are two important aspects in safety-critical control of dynamical systems. It has been a well established fact in control theory that stability properties can…
Continuous Motion Planning with Temporal Logic Specifications using Deep Neural Networks
Chuanzheng Wang, Yinan Li, Stephen L. Smith +1
In this paper, we propose a model-free reinforcement learning method to synthesize control policies for motion planning problems with continuous states and actions. The robot is mo…
Stabilization with Closed-loop DOA Enlargement: An Interval Analysis Approach
Xiang Qiu, Zijun Feng, Chaolun Lu +1
In this paper, the stabilization problem with closed-loop domain of attraction (DOA) enlargement for discrete-time general nonlinear plants is solved. First, a sufficient condition…
Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments
Ye Zhao, Yinan Li, Luis Sentis +2
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic…
Robustly Complete Synthesis of Memoryless Controllers for Nonlinear Systems with Reach-and-Stay Specifications
Yinan Li, Jun Liu
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the…
Invariance Control Synthesis for Switched Systems: An Interval Analysis Approach
Yinan Li, Jun Liu
This paper focuses on the invariance control problem for discrete-time switched nonlinear systems. The proposed approach computes controlled invariant sets in a finite number of it…
Computing finite abstractions with robustness margins via local reachable set over-approximation
Yinan Li, Jun Liu, Necmiye Ozay
This paper proposes a method to compute finite abstractions that can be used for synthesizing robust hybrid control strategies for nonlinear systems. Most existing methods for comp…