76 citations · 116 across the 44 of their papers we have counts for
7 papers · 1 filter
Targeted Adversarial Attacks against Neural Network Trajectory Predictors
Kaiyuan Tan, Jun Wang, Yiannis Kantaros
Trajectory prediction is an integral component of modern autonomous systems as it allows for envisioning future intentions of nearby moving agents. Due to the lack of other agents'…
Verified Compositions of Neural Network Controllers for Temporal Logic Control Objectives
Jun Wang, Samarth Kalluraya, Yiannis Kantaros
This paper presents a new approach to design verified compositions of Neural Network (NN) controllers for autonomous systems with tasks captured by Linear Temporal Logic (LTL) form…
Learning Enabled Fast Planning and Control in Dynamic Environments with Intermittent Information
Matthew Cleaveland, Esen Yel, Yiannis Kantaros +2
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense…
Multi-robot Mission Planning in Dynamic Semantic Environments
Samarth Kalluraya, George J. Pappas, Yiannis Kantaros
This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, unce…
Reactive Informative Planning for Mobile Manipulation Tasks under Sensing and Environmental Uncertainty
Mariliza Tzes, Vasileios Vasilopoulos, Yiannis Kantaros +1
In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators oper…
Accelerated Reinforcement Learning for Temporal Logic Control Objectives
Yiannis Kantaros
This paper addresses the problem of learning control policies for mobile robots, modeled as unknown Markov Decision Processes (MDPs), that are tasked with temporal logic missions,…
Planning and Control of Multi-Robot-Object Systems under Temporal Logic Tasks and Uncertain Dynamics
Christos K. Verginis, Yiannis Kantaros, Dimos V. Dimarogonas
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constr…