1 citations · 2 across the 13 of their papers we have counts for
9 papers · 1 filter
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…