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eess.SY2020
Backpropagation through Signal Temporal Logic Specifications: Infusing Logical Structure into Gradient-Based Methods
Karen Leung, Nikos Aréchiga, Marco Pavone
This paper presents a technique, named STLCG, to compute the quantitative semantics of Signal Temporal Logic (STL) formulas using computation graphs. STLCG provides a platform whic…
eess.SY2016
Nonlinear Stabilization via Control Contraction Metrics: a Pseudospectral Approach for Computing Geodesics
Karen Leung, Ian R. Manchester
Real-time nonlinear stabilization techniques are often limited by inefficient or intractable online and/or offline computations, or a lack guarantee for global stability. In this p…