12 papers
Integer-Free Control Synthesis for Signal Temporal Logic via Ranked Implicants
Arash Bahari Kordabad, Mohammad H. Mamduhi, Sadegh Soudjani
This paper proposes an integer-free method for control synthesis of nonlinear discrete-time systems under finite-horizon Signal Temporal Logic (STL) constraints. Instead of introdu…
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…
Intent-Aware MPC for Aircraft Detect-and-Avoid with Response Delay: A Comparative Study with ACAS Xu
Arash Bahari Kordabad, Arabinda Ghosh, Sybert Stroeve +1
In this paper, we propose an intent-aware Model Predictive Control (MPC) approach for the remain-well-clear (RWC) functionality of a multi-agent aircraft detect-and-avoid (DAA) sys…
Data-Driven Distributionally Robust Control for Interacting Agents under Logical Constraints
Arash Bahari Kordabad, Eleftherios E. Vlahakis, Lars Lindemann +3
In this paper, we propose a distributionally robust control synthesis for an agent with stochastic dynamics that interacts with other agents under uncertainties and constraints exp…
Optimality Conditions for Model Predictive Control: Rethinking Predictive Model Design
Akhil S Anand, Arash Bahari Kordabad, Mario Zanon +1
Optimality is a critical aspect of Model Predictive Control (MPC), especially in economic MPC. However, achieving optimality in MPC presents significant challenges, and may even be…
Distributionally Robust Control for Chance-Constrained Signal Temporal Logic Specifications
Arash Bahari Kordabad, Eleftherios E. Vlahakis, Lars Lindemann +2
We consider distributionally robust optimal control of stochastic linear systems under signal temporal logic (STL) chance constraints when the disturbance distribution is unknown.…
Robust Model Predictive Control for Aircraft Intent-Aware Collision Avoidance
Arash Bahari Kordabad, Andrea Da Col, Arabinda Ghosh +2
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuveri…