160 citations · 250 across the 14 of their papers we have counts for
17 papers
Ensuring Reliable Robot Task Performance through Probabilistic Rare-Event Verification and Synthesis
Guy Scher, Sadra Sadraddini, Ariel Yadin +1
Providing guarantees on the safe operation of robots against edge cases is challenging as testing methods such as traditional Monte-Carlo require too many samples to provide reason…
Compositional Synthesis for Linear Systems via Convex Optimization of Assume-Guarantee Contracts
Kasra Ghasemi, Sadra Sadraddini, Calin Belta
We take a divide and conquer approach to design controllers for reachability problems given large-scale linear systems with polyhedral constraints on states, controls, and disturba…
Decentralized Signal Temporal Logic Control for Perturbed Interconnected Systems via Assume-Guarantee Contract Optimization
Kasra Ghasemi, Sadra Sadraddini, Calin Belta
We develop a novel decentralized control method for a network of perturbed linear systems with dynamical couplings subject to Signal Temporal Logic (STL) specifications. We first t…
Elliptical Slice Sampling for Probabilistic Verification of Stochastic Systems with Signal Temporal Logic Specifications
Guy Scher, Sadra Sadraddini, Russ Tedrake +1
Autonomous robots typically incorporate complex sensors in their decision-making and control loops. These sensors, such as cameras and Lidars, have imperfections in their sensing a…
Compositional Synthesis via a Convex Parameterization of Assume-Guarantee Contracts
Kasra Ghasemi, Sadra Sadraddini, Calin Belta
We develop an assume-guarantee framework for control of large scale linear (time-varying) systems from finite-time reach and avoid or infinite-time invariance specifications. The c…
Compositional Synthesis of Decentralized Robust Set-Invariance Controllers for Large-scale Linear Systems
Kasra Ghasemi, Sadra Sadraddini, Calin Belta
Ensuring constraint satisfaction in large-scale systems with hard constraints is vital in many safety critical systems. The challenge is to design controllers that are efficiently…
Linear Encodings for Polytope Containment Problems
Sadra Sadraddini, Russ Tedrake
The polytope containment problem is deciding whether a polytope is a contained within another polytope. This problem is rooted in computational convexity, and arises in application…
Sampling-based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems
Sadra Sadraddini, Russ Tedrake
Piecewise affine (PWA) systems are widely used to model highly nonlinear behaviors such as contact dynamics in robot locomotion and manipulation. Existing control techniques for PW…
Metrics for Signal Temporal Logic Formulae
Curtis Madsen, Prashant Vaidyanathan, Sadra Sadraddini +5
Signal Temporal Logic (STL) is a formal language for describing a broad range of real-valued, temporal properties in cyber-physical systems. While there has been extensive research…
Distributed Robust Set-Invariance for Interconnected Linear Systems
Sadra Sadraddini, Calin Belta
We introduce a class of distributed control policies for networks of discrete-time linear systems with polytopic additive disturbances. The objective is to restrict the network-lev…
Provably Safe Cruise Control of Vehicular Platoons
Sadra Sadraddini, Sivaranjani S, Vijay Gupta +1
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time c…
Formal Methods for Adaptive Control of Dynamical Systems
Sadra Sadraddini, Calin Belta
We develop a method to control discrete-time systems with constant but initially unknown parameters from linear temporal logic (LTL) specifications. We introduce the notions of (no…
Formal Synthesis of Control Strategies for Positive Monotone Systems
Sadra Sadraddini, Calin Belta
We design controllers from formal specifications for positive discrete-time monotone systems that are subject to bounded disturbances. Such systems are widely used to model the dyn…
Robotic Swarm Control from Spatio-Temporal Specifications
Iman Haghighi, Sadra Sadraddini, Calin Belta
In this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spat…
Safety Control of Monotone Systems with Bounded Uncertainties
Sadra Sadraddini, Calin Belta
Monotone systems, also known as order-preserving or cooperative systems, are prevalent in models of engineering applications such as transportation and biological networks. In this…
A Provably Correct MPC Approach to Safety Control of Urban Traffic Networks
Sadra Sadraddini, Calin Belta
Model predictive control (MPC) is a popular strategy for urban traffic management that is able to incorporate physical and user defined constraints. However, the current MPC method…
Robust Temporal Logic Model Predictive Control
Sadra Sadraddini, Calin Belta
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear system…