7 papers · 1 filter
Learning Biomolecular Models using Signal Temporal Logic
Hanna Krasowski, Eric Palanques-Tost, Calin Belta +1
Modeling dynamical biological systems is key for understanding, predicting, and controlling complex biological behaviors. Traditional methods for identifying governing equations, s…
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…
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…
Capability Augmentation for Heterogeneous Dynamic Teaming with Temporal Logic Tasks
Carter Berlind, Wenliang Liu, Alyssa Pierson +1
This paper considers how heterogeneous multi-agent teams can leverage their different capabilities to mutually improve individual agent performance. We present Capability-Augmentin…
Feasibility-Guaranteed Safety-Critical Control with Applications to Heterogeneous Platoons
Shuo Liu, Wei Xiao, Calin A. Belta
This paper studies safety and feasibility guarantees for systems with tight control bounds. It has been shown that stabilizing an affine control system while optimizing a quadratic…
Auxiliary-Variable Adaptive Control Lyapunov Barrier Functions for Spatio-Temporally Constrained Safety-Critical Applications
Shuo Liu, Wei Xiao, Calin A. Belta
Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic…