5 citations · 10 across the 22 of their papers we have counts for
7 papers · 1 filter
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…