5 citations · 10 across the 11 of their papers we have counts for
11 papers
Structural Balance of Complex Weighted Graphs and Multi-partite Consensus
Honghui Wu, Ahmet Taha Koru, Guanxuan Wu +2
The structural balance of a signed graph is known to be necessary and sufficient to obtain a bipartite consensus among agents with friend-foe relationships. In the real world, rela…
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
Vince Kurtz, Alejandro Castro, Aykut Özgün Önol +1
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve r…
Smooth Robustness Measures for Symbolic Control Via Signal Temporal Logic
Shirantha Welikala, Hai Lin, Panos J. Antsaklis
Symbolic control problems aim to synthesize control policies for dynamical systems under complex temporal specifications. For such problems, Signal Temporal Logic (STL) is increasi…
Temporal Logic Motion Planning with Convex Optimization via Graphs of Convex Sets
Vince Kurtz, Hai Lin
Temporal logic is a concise way of specifying complex tasks. But motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to co…
Mixed-Integer Programming for Signal Temporal Logic with Fewer Binary Variables
Vince Kurtz, Hai Lin
Signal Temporal Logic (STL) provides a convenient way of encoding complex control objectives for robotic and cyber-physical systems. The state-of-the-art in trajectory synthesis fo…
On-line Estimation of Stability and Passivity Metrics
Shirantha Welikala, Hai Lin, Panos J. Antsaklis
We consider the problem of on-line evaluation of critical characteristic parameters such as the L_2-gain (L2G), input feedforward passivity index (IFP) and output feedback passivit…
Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances
Zihao Song, Vince Kurtz, Shirantha Welikala +2
Piecewise affine (PWA) systems are widely applied in many practical cases such as the control of nonlinear systems and hybrid dynamics. However, most of the existing PWA control me…
PDE-based Dynamic Control and Estimation of Soft Robotic Arms
Tongjia Zheng, Hai Lin
Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility but also present novel challenges in their modeling and control b…
Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR
Vince Kurtz, Hai Lin
Contact-implicit trajectory optimization offers an appealing method of automatically generating complex and contact-rich behaviors for robot manipulation and locomotion. The scalab…
The Stackelberg Equilibrium for One-sided Zero-sum Partially Observable Stochastic Games
Wei Zheng, Taeho Jung, Hai Lin
Formulating cyber-security problems with attackers and defenders as a partially observable stochastic game has become a trend recently. Among them, the one-sided two-player zero-su…
Ensuring Privacy in Location-Based Services: A Model-based Approach
Alireza Partovi, Wei Zheng, Taeho Jung +1
In recent years, the widespread of mobile devices equipped with GPS and communication chips has led to the growing use of location-based services (LBS) in which a user receives a s…