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

Robust prediction of citywide traffic flows at different time periods plays a crucial role in intelligent transportation systems. While previous work has made great efforts to model spatio-temporal correlations, existing methods still…

Simulating the long-term dynamics of multi-scale and multi-physics systems poses a significant challenge in understanding complex phenomena across science and engineering. The complexity arises from the intricate interactions between scales…

A static non-linear homogeneous feedback for a fixed-time stabilization of a linear time-invariant (LTI) system is designed in such a way that the settling time is assigned exactly to a prescribed constant for all nonzero initial…

Naturalistic driving action recognition is essential for vehicle cabin monitoring systems. However, the complexity of real-world backgrounds presents significant challenges for this task, and previous approaches have struggled with…

In this paper, we investigate the controller design problem for linear disturbed systems under signal temporal logic (STL) specifications imposing both spatial and temporal constraints on system behavior. We first implement zonotope-based…

This paper studies finite-time safety and reach-avoid verification for stochastic discrete-time dynamical systems. The aim is to ascertain lower and upper bounds of the probability that, within a predefined finite-time horizon, a system…

We propose a reachability-based framework for reliable LLM-guided human-autonomy teaming (HAT) using signal temporal logic (STL). In the proposed framework, LLM is leveraged as a translator that transfers natural language commands given by…

Stochastic Spatio-Temporal processes are prevalent across domains ranging from modeling of plasma to the turbulence in fluids to the wave function of quantum systems. This letter studies a measure-theoretic description of such systems by…

We address the problem of safety verification for nonlinear stochastic systems, specifically the task of certifying that system trajectories remain within a safe set with high probability. To tackle this challenge, we adopt a set-erosion…

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to…

The stabilization of nonlinear systems under zero-state-detectability assumption or its analogues is considered. The proposed supervisory control provides a finite time practical stabilization of output and it is based on uniting local and…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

We study the transport properties of nonautonomous chaotic dynamical systems over a finite time duration. We are particularly interested in those regions that remain coherent and relatively non-dispersive over finite periods of time,…

This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety…

This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…

Spatiotemporal learning has become a pivotal technique to enable urban intelligence. Traditional spatiotemporal models mostly focus on a specific task by assuming a same distribution between training and testing sets. However, given that…

There is an emerging trend in applying deep learning methods to control complex nonlinear systems. This paper considers enhancing the runtime safety of nonlinear systems controlled by neural networks in the presence of disturbance and…

Autonomous robots that are capable of operating safely in the presence of imperfect model knowledge or external disturbances are vital in safety-critical applications. In this paper, we present a planner-agnostic framework to design and…

Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional…

This paper presents an elastic tube-based model predictive control (MPC) framework for unknown discrete-time linear systems subject to disturbances. Unlike most existing elastic tube-based MPC methods, we do not assume perfect knowledge of…