相关论文: Real-Time Spatiotemporal Tubes for Dynamic Unsafe …

Tracking objects in three-dimensional space is critical for autonomous driving. To ensure safety while driving, the tracker must be able to reliably track objects across frames and accurately estimate their states such as velocity and…

Ensuring nominal asymptotic stability of the Nonlinear Model Predictive Control controller is not trivial. Stabilizing ingredients such as terminal penalty term and terminal region are crucial in establishing the asymptotic stability.…

Real-world robotic systems must comply with safety requirements in the presence of uncertainty. To define and measure requirement adherence, Signal Temporal Logic (STL) offers a mathematically rigorous and expressive language. However,…

We present a novel robust control framework for continuous-time, perturbed nonlinear dynamical systems with uncertainty that depends nonlinearly on both the state and control inputs. Unlike conventional approaches that impose structural…

We consider the continuous-time setting of linear time-invariant (LTI) systems in feedback with multiplicative stochastic uncertainties. The objective of the paper is to characterize the conditions of Mean-Square Stability (MSS) using a…

With the development of the Internet of Things, millions of sensors are being deployed in cities to collect real-time data. This leads to a need for checking city states against city requirements at runtime. In this paper, we develop a…

Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…

We propose a framework based on Recurrent Neural Networks (RNNs) to determine an optimal control strategy for a discrete-time system that is required to satisfy specifications given as Signal Temporal Logic (STL) formulae. RNNs can store…

Recent advances in transformer-based lightweight object tracking have established new standards across benchmarks, leveraging the global receptive field and powerful feature extraction capabilities of attention mechanisms. Despite these…

Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…

This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…

This paper addresses optimal feedback stabilizing control for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations, affected by state and process noise. Instead of directly stabilizing the uncertain system, we…

Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time…

The objective of traffic prediction is to accurately forecast and analyze the dynamics of transportation patterns, considering both space and time. However, the presence of distribution shift poses a significant challenge in this field, as…

Predicting spatio-temporal traffic flow presents significant challenges due to complex interactions between spatial and temporal factors. Existing approaches often address these dimensions in isolation, neglecting their critical…

Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often…

Within the field of complicated multivariate time series forecasting (TSF), popular techniques frequently rely on intricate deep learning architectures, ranging from transformer-based designs to recurrent neural networks. However, recent…

We propose a novel symbolic control framework for enforcing temporal logic specifications in Euler-Lagrange systems that addresses the key limitations of traditional abstraction-based approaches. Unlike existing methods that require exact…

This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, and wish to jointly synthesize the maximal possible…

Recent research has turned to Reinforcement Learning (RL) to solve challenging decision problems, as an alternative to hand-tuned heuristics. RL can learn good policies without the need for modeling the environment's dynamics. Despite this…