4 papers · 1 filter
Belief-Informed Hybrid Control with Almost-Sure Target-Set Convergence
Clinton Enwerem, Saleh Kemal, John S. Baras +1
Controlling a hybrid system to a target set under parameter uncertainty can require informative actions that temporarily drive the system state away from the specified set. We prop…
Differentiable Ternary Temporal Logic Semantics with Polynomial Surrogate Networks
Ryan Matheu, Sai Sandeep Damera, John S. Baras +1
Temporal logic provides designers a formal reasoning tool for specifying complex spatio-temporal behaviors and tasks for autonomous systems. Many techniques exist for control synth…
Risk-Constrained Belief-Space Optimization for Safe Control under Latent Uncertainty
Clinton Enwerem, John S. Baras, Calin Belta
Many safety-critical control systems operate under latent uncertainty that sensors cannot resolve at decision time. Such uncertainty, arising from unknown physical properties, dist…
Time-Robust Path Planning with Piece-Wise Linear Trajectory for Signal Temporal Logic Specifications
Nhan-Khanh Le, Erfaun Noorani, Sandra Hirche +1
Real-world scenarios are characterized by timing uncertainties, e.g., delays, and disturbances. Algorithms with temporal robustness are crucial in guaranteeing the successful execu…