11 papers
Context-Triggered Robust MPC for Temporal Logic Specifications
Arash Bahari Kordabad, Satya Prakash Nayak, Sadegh Soudjani +1
We consider the problem of synthesizing robust feedback controllers for discrete-time linear systems that ensure the satisfaction of context-dependent linear temporal logic specifi…
Almost Sure Reachability in Continuous-time Stochastic Systems
Arash Bahari Kordabad, Rupak Majumdar, Sadegh Soudjani
We provide certificates for almost sure reachability of continuous-time stochastic systems governed by stochastic differential equations (SDEs). We first show that a standard Euler…
Multi-Agent Temporal Logic Planning via Penalty Functions and Block-Coordinate Optimization
Eleftherios E. Vlahakis, Arash Bahari Kordabad, Lars Lindemann +3
Multi-agent planning under Signal Temporal Logic (STL) is often hindered by collaborative tasks that lead to computational challenges due to the inherent high dimensionality of the…
Second-Order Policy Gradient Methods for the Linear Quadratic Regulator
Amirreza Valaei, Arash Bahari Kordabad, Sadegh Soudjani
Policy gradient methods are a powerful family of reinforcement learning algorithms for continuous control that optimize a policy directly. However, standard first-order methods oft…
Sum-of-Squares Certificates for Almost-Sure Reachability of Stochastic Polynomial Systems
Arash Bahari Kordabad, Rupak Majumdar, Sadegh Soudjani
In this paper, we present a computational approach to certify almost sure reachability for discrete-time polynomial stochastic systems by turning drift--variant criteria into sum-o…
On Certificates for Almost Sure Reachability in Stochastic Systems
Arash Bahari Kordabad, Rupak Majumdar, Harshit Jitendra Motwani +1
Almost sure reachability refers to the property of a stochastic system whereby, from any initial condition, the system state reaches a given target set with probability one. In thi…