3 papers
eess.SY2026
Patching Control Lyapunov Barrier Functions for Temporal Logic Specifications with Bounded Controls
Ruikun Zhou, Yating Yuan, Haocheng Chang +2
We propose an abstraction-free framework for controller synthesis for continuous-time dynamical systems subject to Linear Temporal Logic (LTL) specifications and bounded control in…
eess.SY2024
Reach-Avoid Control Synthesis for a Quadrotor UAV with Formal Safety Guarantees
Mohamed Serry, Haocheng Chang, Jun Liu
Reach-avoid specifications are one of the most common tasks in autonomous aerial vehicle (UAV) applications. Despite the intensive research and development associated with control…
math.OC2023
Harmonic Control Lyapunov Barrier Functions for Constrained Optimal Control with Reach-Avoid Specifications
Amartya Mukherjee, Ruikun Zhou, Haocheng Chang +1
This paper introduces harmonic control Lyapunov barrier functions (harmonic CLBF) that aid in constrained control problems such as reach-avoid problems. Harmonic CLBFs exploit the…