13 papers
STEAM: A Training-Free Congestion-Aware Enhancement Framework for Decentralized Multi-Agent Path Finding
Mingyang Feng, Mengnuo Zhang, Shaoyuan Li +1
We propose STEAM (Spatial, Temporal, and Emergent congestion Awareness for MAPF), a training-free test-time enhancement framework for learning-based decentralized Multi-Agent Path…
SAGAS: Semantic-Aware Graph-Assisted Stitching for Offline Temporal Logic Planning
Ruijia Liu, Ancheng Hou, Xiang Yin
Linear Temporal Logic (LTL) provides a rigorous framework for specifying long-horizon robotic tasks, yet existing approaches face a trade-off: model-based synthesis relies on accur…
On the Computation and Approximation of Backward Reachable Sets for Max-Plus Linear Systems using Polyhedras
Yuda Li, Shaoyuan Li, Xiang Yin
This paper investigates reachability analysis for max-plus linear systems (MPLS), an important class of dynamical systems that model synchronization and delay phenomena in timed di…
Stability Verification for Switched Systems using Neural Multiple Lyapunov Functions
Junyue Huang, Shaoyuan Li, Xiang Yin
Stability analysis of switched systems, characterized by multiple operational modes and switching signals, is challenging due to their nonlinear dynamics. While frameworks such as…
RRT*former: Environment-Aware Sampling-Based Motion Planning using Transformer
Mingyang Feng, Shaoyuan Li, Xiang Yin
We investigate the sampling-based optimal path planning problem for robotics in complex and dynamic environments. Most existing sampling-based algorithms neglect environmental info…
Distributionally Robust Control Synthesis for Stochastic Systems with Safety and Reach-Avoid Specifications
Yu Chen, Yuda Li, Shaoyuan Li +1
We investigate the problem of synthesizing distributionally robust control policies for stochastic systems under safety and reach-avoid specifications. Using a game-theoretical fra…