75 citations · 261 across the 31 of their papers we have counts for
5 papers · 1 filter
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…
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…
Predictive Runtime Monitoring for Mobile Robots using Logic-Based Bayesian Intent Inference
Hansol Yoon, Sriram Sankaranarayanan
We propose a predictive runtime monitoring framework that forecasts the distribution of future positions of mobile robots in order to detect and avoid impending property violations…
Path-Following through Control Funnel Functions
Hadi Ravanbakhsh, Sina Aghli, Christoffer Heckman +1
We present an approach to path following using so-called control funnel functions. Synthesizing controllers to "robustly" follow a reference trajectory is a fundamental problem for…