45 citations · 205 across the 65 of their papers we have counts for
8 papers · 1 filter
A More Scalable Mixed-Integer Encoding for Metric Temporal Logic
Vince Kurtz, Hai Lin
The state-of-the-art in optimal control from timed temporal logic specifications, including Metric Temporal Logic (MTL) and Signal Temporal Logic (STL), is based on Mixed-Integer C…
idSTLPy: A Python Toolbox for Active Perception and Control
Rafael Rodrigues da Silva, Kunal Yadav, Hai Lin
This paper describes a Python toolbox for active perception and control synthesis of probabilistic signal temporal logic (PrSTL) formulas of switched linear systems with additive G…
Active Perception and Control from PrSTL Specifications
Rafael Rodrigues da Silva, Vince Kurtz, Hai Lin
Next-generation intelligent systems must plan and execute complex tasks with imperfect information about their environment. As a result, plans must also include actions to learn ab…
Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control
Vince Kurtz, Patrick M. Wensing, Hai Lin
Task-space Passivity-Based Control (PBC) for manipulation has numerous appealing properties, including robustness to modeling error and safety for human-robot interaction. Existing…
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics
Vince Kurtz, He Li, Patrick M. Wensing +1
Seemingly in defiance of basic physics, cats consistently land on their feet after falling. In this paper, we design a controller that lands the Mini Cheetah quadruped robot on its…
Field Estimation using Robotic Swarms through Bayesian Regression and Mean-Field Feedback
Tongjia Zheng, Hai Lin
Recent years have seen an increased interest in using mean-field density based modelling and control strategy for deploying robotic swarms. In this paper, we study how to dynamical…