5 citations · 10 across the 22 of their papers we have counts for
23 papers
STEAM: A Training-Free Congestion-Aware Enhancement Framework for Decentralized Multi-Agent Path Finding
Mingyang Feng, Mengnuo Zhang, Shaoyuan Li +1
We propose STEAM (Spatial, Temporal, and Emergent congestion Awareness for MAPF), a training-free test-time enhancement framework for learning-based decentralized Multi-Agent Path…
On the Computation and Approximation of Backward Reachable Sets for Max-Plus Linear Systems using Polyhedras
Yuda Li, Shaoyuan Li, Xiang Yin
This paper investigates reachability analysis for max-plus linear systems (MPLS), an important class of dynamical systems that model synchronization and delay phenomena in timed di…
Stability Verification for Switched Systems using Neural Multiple Lyapunov Functions
Junyue Huang, Shaoyuan Li, Xiang Yin
Stability analysis of switched systems, characterized by multiple operational modes and switching signals, is challenging due to their nonlinear dynamics. While frameworks such as…
SAGAS: Semantic-Aware Graph-Assisted Stitching for Offline Temporal Logic Planning
Ruijia Liu, Ancheng Hou, Xiang Yin
Linear Temporal Logic (LTL) provides a rigorous framework for specifying long-horizon robotic tasks, yet existing approaches face a trade-off: model-based synthesis relies on accur…
RRT*former: Environment-Aware Sampling-Based Motion Planning using Transformer
Mingyang Feng, Shaoyuan Li, Xiang Yin
We investigate the sampling-based optimal path planning problem for robotics in complex and dynamic environments. Most existing sampling-based algorithms neglect environmental info…
VH-Diffuser: Variable Horizon Diffusion Planner for Time-Aware Goal-Conditioned Trajectory Planning
Ruijia Liu, Ancheng Hou, Shaoyuan Li +1
Diffusion-based planners have gained significant recent attention for their robustness and performance in long-horizon tasks. However, most existing planners rely on a fixed, pre-s…
Control Synthesis for Multiple Reach-Avoid Tasks via Hamilton-Jacobi Reachability Analysis
Yu Chen, Shaoyuan Li, Xiang Yin
We investigate the control synthesis problem for continuous-time time-varying nonlinear systems with disturbance under a class of multiple reach-avoid (MRA) tasks. Specifically, th…
Model Predictive Online Monitoring of Dynamical Systems for Nested Signal Temporal Logic Specifications
Tao Han, Shaoyuan Li, Xiang Yin
This paper investigates the online monitoring problem for cyber-physical systems under signal temporal logic (STL) specifications. The objective is to design an online monitor that…
Online Synthesis of Control Barrier Functions with Local Occupancy Grid Maps for Safe Navigation in Unknown Environments
Yuepeng Zhang, Yu Chen, Yuda Li +2
Control Barrier Functions (CBFs) have emerged as an effective and non-invasive safety filter for ensuring the safety of autonomous systems in dynamic environments with formal guara…
Distributionally Robust Control Synthesis for Stochastic Systems with Safety and Reach-Avoid Specifications
Yu Chen, Yuda Li, Shaoyuan Li +1
We investigate the problem of synthesizing distributionally robust control policies for stochastic systems under safety and reach-avoid specifications. Using a game-theoretical fra…
SPARC: Prediction-Based Safe Control for Coupled Controllable and Uncontrollable Agents with Conformal Predictions
Shuqi Wang, Siqi Wang, Shaoyuan Li +1
We investigate the problem of safe control synthesis for systems operating in environments with uncontrollable agents whose dynamics are unknown but coupled with those of the contr…
On Epistemic Properties in Discrete-Event Systems: A Uniform Framework and Its Applications
Bohan Cui, Ziyue Ma, Shaoyuan Li +1
In this paper, we investigate the property verification problem for partially-observed DES from a new perspective. Specifically, we consider the problem setting where the system is…
Prioritize Team Actions: Multi-Agent Temporal Logic Task Planning with Ordering Constraints
Bowen Ye, Jianing Zhao, Shaoyuan Li +1
In this paper, we investigate the problem of linear temporal logic (LTL) path planning for multi-agent systems, introducing the new concept of \emph{ordering constraints}. Specific…
Optimal Control of Markov Decision Processes for Efficiency with Linear Temporal Logic Tasks
Yu Chen, Xuanyuan Yin, Shaoyuan Li +1
We investigate the problem of optimal control synthesis for Markov Decision Processes (MDPs), addressing both qualitative and quantitative objectives. Specifically, we require the…
A Game-Theoretical Approach for Optimal Supervisory Control of Discrete Event Systems under Energy Constraints
Peng Lv, Shaoyuan Li, Xiang Yin
In this paper, we investigate the problem of optimal supervisory control for the discrete event systems under energy constraints. We consider that the execution of events consumes…
Synthesis of Temporally-Robust Policies for Signal Temporal Logic Tasks using Reinforcement Learning
Siqi Wang, Shaoyuan Li, Li Yin +1
This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environment…
Safe-by-Construction Autonomous Vehicle Overtaking using Control Barrier Functions and Model Predictive Control
Dingran Yuan, Xinyi Yu, Shaoyuan Li +1
Ensuring safety for vehicle overtaking systems is one of the most fundamental and challenging tasks in autonomous driving. This task is particularly intricate when the vehicle must…
NNgTL: Neural Network Guided Optimal Temporal Logic Task Planning for Mobile Robots
Ruijia Liu, Shaoyuan Li, Xiang Yin
In this work, we investigate task planning for mobile robots under linear temporal logic (LTL) specifications. This problem is particularly challenging when robots navigate in cont…
Model Predictive Control for Signal Temporal Logic Specifications with Time Interval Decomposition
Xinyi Yu, Chuwei Wang, Dingran Yuan +2
In this paper, we investigate the problem of Model Predictive Control (MPC) of dynamic systems for high-level specifications described by Signal Temporal Logic (STL) formulae. Rece…
Entropy Rate Maximization of Markov Decision Processes under Linear Temporal Logic Tasks
Yu Chen, Shaoyuan Li, Xiang Yin
We investigate the problem of synthesizing optimal control policies for Markov decision processes (MDPs) with both qualitative and quantitative objectives. Specifically, our goal i…
Model Predictive Monitoring of Dynamical Systems for Signal Temporal Logic Specifications
Xinyi Yu, Weijie Dong, Xiang Yin +1
Online monitoring aims to evaluate or to predict, at runtime, whether or not the behaviors of a system satisfy some desired specification. It plays a key role in safety-critical cy…
A Unified Framework for Verification of Observational Properties for Partially-Observed Discrete-Event Systems
Jianing Zhao, Xiang Yin, Shaoyuan Li
In this paper, we investigate property verification problems in partially-observed discrete-event systems (DES). Particularly, we are interested in verifying observational properti…
You Don't Know What I Know: On Notion of High-Order Opacity in Discrete-Event Systems
Bohan Cui, Xiang Yin, Shaoyuan Li +1
In this paper, we investigate a class of information-flow security properties called opacity in partial-observed discrete-event systems. Roughly speaking, a system is said to be op…