75 citations · 261 across the 31 of their papers we have counts for
40 papers
Optimal Planning for Timed Partial Order Specifications
Kandai Watanabe, Georgios Fainekos, Bardh Hoxha +3
This paper addresses the challenge of planning a sequence of tasks to be performed by multiple robots while minimizing the overall completion time subject to timing and precedence…
Template-Based Piecewise Affine Regression
Guillaume O. Berger, Sriram Sankaranarayanan
We investigate the problem of fitting piecewise affine functions (PWA) to data. Our algorithm divides the input domain into finitely many polyhedral regions whose shapes are specif…
Certifiably-correct Control Policies for Safe Learning and Adaptation in Assistive Robotics
Keyvan Majd, Geoffrey Clark, Tanmay Khandait +4
Guaranteeing safety in human-centric applications is critical in robot learning as the learned policies may demonstrate unsafe behaviors in formerly unseen scenarios. We present a…
Safe Robot Learning in Assistive Devices through Neural Network Repair
Keyvan Majd, Geoffrey Clark, Tanmay Khandait +4
Assistive robotic devices are a particularly promising field of application for neural networks (NN) due to the need for personalization and hard-to-model human-machine interaction…
A Framework for Fair Decision-making Over Time with Time-invariant Utilities
Andrea Lodi, Sriram Sankaranarayanan, Guanyi Wang
Fairness is a major concern in contemporary decision problems. In these situations, the objective is to maximize fairness while preserving the efficacy of the underlying decision-m…
Counterexample-guided computation of polyhedral Lyapunov functions for hybrid systems
Guillaume O. Berger, Sriram Sankaranarayanan
This paper presents a counterexample-guided iterative algorithm to compute convex, piecewise linear (polyhedral) Lyapunov functions for uncertain continuous-time linear hybrid syst…