102 citations · 204 across the 61 of their papers we have counts for
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Sufficient Conditions for Feasibility of Optimal Control Problems Using Control Barrier Functions
Wei Xiao, Calin Belta, Christos G. Cassandras
It has been shown that satisfying state and control constraints while optimizing quadratic costs subject to desired (sets of) state convergence for affine control systems can be re…
Specifying User Preferences using Weighted Signal Temporal Logic
Noushin Mehdipour, Cristian-Ioan Vasile, Calin Belta
We extend Signal Temporal Logic (STL) to enable the specification of importance and priorities. The extension, called Weighted STL (wSTL), has the same qualitative (Boolean) semant…
Recurrent Neural Network Controllers for Signal Temporal Logic Specifications Subject to Safety Constraints
Wenliang Liu, Noushin Mehdipour, Calin Belta
We propose a framework based on Recurrent Neural Networks (RNNs) to determine an optimal control strategy for a discrete-time system that is required to satisfy specifications give…
Bridging the Gap between Optimal Trajectory Planning and Safety-Critical Control with Applications to Autonomous Vehicles
Wei Xiao, Christos G. Cassandras, Calin A. Belta
We address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited…
Approximate Optimal Control for Safety-Critical Systems with Control Barrier Functions
Max Cohen, Calin Belta
Control Barrier Functions (CBFs) have become a popular tool for enforcing set invariance in safety-critical control systems. While guaranteeing safety, most CBF approaches are myop…
How Retroactivity Affects the Behavior of Incoherent Feed-Forward Loops
Junmin Wang, Calin Belta, Samuel A. Isaacson
An incoherent feed-forward loop (IFFL) is a network motif known for its ability to accelerate responses and generate pulses. Though functions of IFFLs are well studied, most previo…