102 citations · 204 across the 60 of their papers we have counts for
9 papers · 1 filter
Control-Based Planning over Probability Mass Function Measurements via Robust Linear Programming
Mehdi Kermanshah, Calin Belta, Roberto Tron
We propose an approach to synthesize linear feedback controllers for linear systems in polygonal environments. Our method focuses on designing a robust controller that can account…
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…
Robustness Measures and Monitors for Time Window Temporal Logic
Ahmad Ahmad, Cristian-Ioan Vasile, Roberto Tron +1
Temporal logics (TLs) have been widely used to formalize interpretable tasks for cyber-physical systems. Time Window Temporal Logic (TWTL) has been recently proposed as a specifica…
Learning Robust and Correct Controllers from Signal Temporal Logic Specifications Using BarrierNet
Wenliang Liu, Wei Xiao, Calin Belta
In this paper, we consider the problem of learning a neural network controller for a system required to satisfy a Signal Temporal Logic (STL) specification. We exploit STL quantita…
Uncertainty Quantification for Recursive Estimation in Adaptive Safety-Critical Control
Max H. Cohen, Makai Mann, Kevin Leahy +1
In this paper, we present a framework for online parameter estimation and uncertainty quantification in the context of adaptive safety-critical control. The key insight enabling ou…
LQR-CBF-RRT*: Safe and Optimal Motion Planning
Guang Yang, Mingyu Cai, Ahmad Ahmad +3
We present LQR-CBF-RRT*, an incremental sampling-based algorithm for offline motion planning. Our framework leverages the strength of Control Barrier Functions (CBFs) and Linear Qu…