1 citations · 2 across the 13 of their papers we have counts for
15 papers
Class-Conditional Conformal Prediction for Signal Temporal Logic Inference with Many Classes
Yixuan Wang, Danyang Li, Matthew Cleaveland +2
Signal Temporal Logic (STL) inference provides interpretable formulas for time series classification. For multiclass classification, however, accurate predictions do not necessaril…
Conformalized Signal Temporal Logic Inference under Covariate Shift
Yixuan Wang, Danyang Li, Matthew Cleaveland +2
Signal Temporal Logic (STL) inference learns interpretable logical rules for temporal behaviors in dynamical systems. To ensure the correctness of learned STL formulas, recent appr…
RRT: Sampling-based Motion Planning and Control from STL Specifications using Arithmetic-Geometric Mean Robustness
Ahmad Ahmad, Shuo Liu, Roberto Tron +1
Sampling-based motion planning has emerged as a powerful approach for robotics, enabling exploration of complex, high-dimensional configuration spaces. When combined with Signal Te…
Conformal Prediction for Signal Temporal Logic Inference
Danyang Li, Yixuan Wang, Matthew Cleaveland +2
Signal Temporal Logic (STL) inference seeks to extract human-interpretable rules from time-series data, but existing methods lack formal confidence guarantees for the inferred rule…
Accelerating Proximal Policy Optimization Learning Using Task Prediction for Solving Environments with Delayed Rewards
Ahmad Ahmad, Mehdi Kermanshah, Kevin Leahy +6
In this paper, we tackle the challenging problem of delayed rewards in reinforcement learning (RL). While Proximal Policy Optimization (PPO) has emerged as a leading Policy Gradien…
Navigating the Noise: A CBF Approach for Nonlinear Control with Integral Constraints
Idris Seidu, Roberto Tron
Many physical phenomena involving mobile agents involve time-varying scalar fields, e.g., quadrotors that emit noise. As a consequence, agents can influence and can be influenced b…
Model Predictive Control for Magnetically-Actuated Cellbots
Mehdi Kermanshah, Logan E. Beaver, Max Sokolich +5
This paper presents a control framework for magnetically actuated cellbots, which combines Model Predictive Control (MPC) with Gaussian Processes (GPs) as a disturbance estimator f…
TLINet: Differentiable Neural Network Temporal Logic Inference
Danyang Li, Mingyu Cai, Cristian-Ioan Vasile +1
There has been a growing interest in extracting formal descriptions of the system behaviors from data. Signal Temporal Logic (STL) is an expressive formal language used to describe…
Spline Trajectory Tracking and Obstacle Avoidance for Mobile Agents via Convex Optimization
Akua Dickson, Christos G. Cassandras, Roberto Tron
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety cons…
Designing Robust Linear Output Feedback Controller based on CLF-CBF framework via Linear~Programming(LP-CLF-CBF)
Mahroo Bahreinian, Mehdi Kermanshah, Roberto Tron
We consider the problem of designing output feedback controllers that use measurements from a set of landmarks to navigate through a cell-decomposable environment using duality, Co…
Enhancing Security in Multi-Robot Systems through Co-Observation Planning, Reachability Analysis, and Network Flow
Ziqi Yang, Roberto Tron
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a n…
Multi-class Temporal Logic Neural Networks
Danyang Li, Roberto Tron
Time-series data can represent the behaviors of autonomous systems, such as drones and self-driving cars. The task of binary and multi-class classification for time-series data has…
Interpretable Imitation Learning via Generative Adversarial STL Inference and Control
Wenliang Liu, Danyang Li, Erfan Aasi +3
Imitation learning methods have demonstrated considerable success in teaching autonomous systems complex tasks through expert demonstrations. However, a limitation of these methods…
Distance-coupling as an Approach to Position and Formation Control
Michael Napoli, Roberto Tron
In this letter, we study the case of autonomous agents which are required to move to some new position based solely on the distance measured from predetermined reference points, or…
Control-Based Planning over Probability Mass Function Measurements via Robust Linear Programming
Mehdi Kermanshah, Calin Belta, Roberto Tron
We propose an approach to synthesize linear feedback controllers for linear systems in polygonal environments. Our method focuses on designing a robust controller that can account…