1 citations · 1 across the 10 of their papers we have counts for
12 papers
Learning Spatiotemporal Tubes for Full Class of Signal Temporal Logic Tasks for Control of Unknown Systems under Input Constraints
Ahan Basu, Ratnangshu Das, Soumyodipta Nath +2
This paper presents a Spatiotemporal Tube (STT)-based control framework for general unknown nonlinear Euler-Lagrange (EL) systems subject to input constraints, with the objective o…
A Reactive Redistribution Mechanism for STL Tasks in Multi-Agent Systems Under Time-Varying Communication
Gregorio Marchesini, Bjarne Jan Jesse Moro, Siyuan Liu +2
We present a communication-aware task decomposition framework for multi-agent systems with collaborative relative configuration objectives specified in Signal Temporal Logic (STL),…
Observer-based Control of Multi-agent Systems under STL Specifications
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
This paper proposes a decentralized controller for large-scale heterogeneous multi-agent systems subject to bounded external disturbances, where agents must satisfy Signal Temporal…
Robust Estimation and Control for Heterogeneous Multi-agent Systems Based on Decentralized k-hop Prescribed Performance Observers
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
We propose decentralized k-hop Prescribed Performance State and Input Observers for heterogeneous multi-agent systems subject to bounded external disturbances. In the proposed inpu…
Correct-by-Design Control Synthesis of Stochastic Multi-agent Systems: a Robust Tensor-based Solution
Ruohan Wang, Siyuan Liu, Zhiyong Sun +1
Discrete-time stochastic systems with continuous spaces are hard to verify and control, even with MDP abstractions due to the curse of dimensionality. We propose an abstraction-bas…
Sampling-Based Planning Under STL Specifications: A Forward Invariance Approach
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We propose a variant of the Rapidly Exploring Random Tree Star (RRT) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a…
UTTG_ A Universal Teleoperation Approach via Online Trajectory Generation
Shengjian Fang, Yixuan Zhou, Yu Zheng +3
Teleoperation is crucial for hazardous environment operations and serves as a key tool for collecting expert demonstrations in robot learning. However, existing methods face roboti…
Communication-aware Multi-agent Systems Control Based on -hop Distributed Observers
Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas
We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In…
A Communication Consistent Approach to Signal Temporal Logic Task Decomposition in Multi-Agent Systems
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited…
Decentralized Control of Multi-Agent Systems Under Acyclic Spatio-Temporal Task Dependencies
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies. Specifica…
Games in Public Announcement: How to Reduce System Losses in Optimistic Blockchain Mechanisms
Siyuan Liu, Yulong Zeng
Announcement games, where information is disseminated by announcers and challenged by validators, are prevalent in real-world scenarios. Validators take effort to verify the validi…
Communication-Constrained STL Task Decomposition through Convex Optimization
Gregorio Marchesini, Siyuan Liu, Lars Lindemann +1
In this work, we propose a method to decompose signal temporal logic (STL) tasks for multi-agent systems subject to constraints imposed by the communication graph. Specifically, we…