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Safe Exploration in Model-based Reinforcement Learning using Control Barrier Functions


Apr 16, 2021
Max H. Cohen, Calin Belta


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Neural Network-based Control for Multi-Agent Systems from Spatio-Temporal Specifications


Apr 06, 2021
Suhail Alsalehi, Noushin Mehdipour, Ezio Bartocci, Calin Belta

* 8 pages. Submitted to the CDC 2021 

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Model-Based Safe Policy Search from Signal Temporal Logic Specifications Using Recurrent Neural Networks


Mar 29, 2021
Wenliang Liu, Calin Belta

* 8 pages, 7 figures, submitted to CDC 2021 

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Event-Triggered Safety-Critical Control for Systems with Unknown Dynamics


Mar 29, 2021
Wei Xiao, Calin Belta, Christos G. Cassandras

* 8 pages, submitted to CDC2021. arXiv admin note: text overlap with arXiv:2011.08248 

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Experimental Validation of Linear and Nonlinear MPC on an Articulated Unmanned Ground Vehicle


Mar 25, 2021
Erkan Kayacan, Wouter Saeys, Herman Ramon, Calin Belta, Joshua M. Peschel

* IEEE/ASME Transactions on Mechatronics, vol. 23, issue 5, 2018 

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Rule-based Optimal Control for Autonomous Driving


Jan 14, 2021
Wei Xiao, Noushin Mehdipour, Anne Collin, Amitai Bin-Nun, Emilio Frazzoli, Radboud Duintjer Tebbens, Calin Belta

* accepted in ICCPS2021 

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Sufficient Conditions for Feasibility of Optimal Control Problems Using Control Barrier Functions


Nov 16, 2020
Wei Xiao, Calin Belta, Christos G. Cassandras

* 10 pages, submitted to Automatica 

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Recurrent Neural Network Controllers for Signal Temporal Logic Specifications Subject to Safety Constraints


Sep 24, 2020
Wenliang Liu, Noushin Mehdipour, Calin Belta

* 7 pages, 4 figures, submitted to IEEE Control Systems Letters (L-CSS) with the option to present it to the ACC 2021 

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Adaptive Control Barrier Functions for Safety-Critical Systems


Feb 11, 2020
Wei Xiao, Calin Belta, Christos G. Cassandras

* 11 pages, 7 figures, submitted to CDC2020 

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Distributed and Consistent Multi-Image Feature Matching via QuickMatch


Oct 29, 2019
Zachary Serlin, Guang Yang, Brandon Sookraj, Calin Belta, Roberto Tron


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Average-based Robustness for Continuous-Time Signal Temporal Logic


Sep 03, 2019
Noushin Mehdipour, Cristian-Ioan Vasile, Calin Belta

* Accepted for publication in the proceedings of Conference on Decision and Control 2019 

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Sampling-based Motion Planning via Control Barrier Functions


Jul 15, 2019
Guang Yang, Bee Vang, Zachary Serlin, Calin Belta, Roberto Tron


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Temporal Logic Guided Safe Reinforcement Learning Using Control Barrier Functions


Mar 23, 2019
Xiao Li, Calin Belta


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Control Barrier Functions for Systems with High Relative Degree


Mar 13, 2019
Wei Xiao, Calin Belta

* 9 pages, 7 figures, submitted to CDC19 

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Arithmetic-Geometric Mean Robustness for Control from Signal Temporal Logic Specifications


Mar 12, 2019
Noushin Mehdipour, Cristian-Ioan Vasile, Calin Belta

* Accepted for publication in the proceedings of American Control Conference 2019 

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Reactive Control Meets Runtime Verification: A Case Study of Navigation


Feb 11, 2019
Dogan Ulus, Calin Belta


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Automata Guided Reinforcement Learning With Demonstrations


Sep 25, 2018
Xiao Li, Yao Ma, Calin Belta


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Automata-Guided Hierarchical Reinforcement Learning for Skill Composition


May 21, 2018
Xiao Li, Yao Ma, Calin Belta


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A Policy Search Method For Temporal Logic Specified Reinforcement Learning Tasks


Sep 27, 2017
Xiao Li, Yao Ma, Calin Belta


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Reinforcement Learning With Temporal Logic Rewards


Mar 02, 2017
Xiao Li, Cristian-Ioan Vasile, Calin Belta


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Robotic Swarm Control from Spatio-Temporal Specifications


Sep 20, 2016
Iman Haghighi, Sadra Sadraddini, Calin Belta

* A shorter version of this paper is going to be published at the proceedings of the 55th international conference on decision and control (CDC 2016) 

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A Hierarchical Reinforcement Learning Method for Persistent Time-Sensitive Tasks


Jun 20, 2016
Xiao Li, Calin Belta


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Control with Probabilistic Signal Temporal Logic


Oct 28, 2015
Chanyeol Yoo, Calin Belta

* 7 pages, submitted to the 2016 American Control Conference (ACC 2016) on September, 30, 2015 (under review) 

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Robust Satisfaction of Temporal Logic Specifications via Reinforcement Learning


Oct 22, 2015
Austin Jones, Derya Aksaray, Zhaodan Kong, Mac Schwager, Calin Belta

* 8 pages, 4 figures 

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A Formal Methods Approach to Pattern Synthesis in Reaction Diffusion Systems


Sep 12, 2014
Ebru Aydin Gol, Ezio Bartocci, Calin Belta


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Technical Report: Distribution Temporal Logic: Combining Correctness with Quality of Estimation


Sep 09, 2013
Austin Jones, Mac Schwager, Calin Belta

* More expanded version of "Distribution Temporal Logic: Combining Correctness with Quality of Estimation" to appear in IEEE CDC 2013 

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Sampling-Based Temporal Logic Path Planning


Jul 27, 2013
Cristian Ioan Vasile, Calin Belta

* 8 pages, 4 figures; extended version of the paper presented at IROS 2013 

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Negotiating the Probabilistic Satisfaction of Temporal Logic Motion Specifications


Jul 11, 2013
Igor Cizelj, Calin Belta

* 9 pages, 4 figures; The results in this paper were presented without proofs in IEEE/RSJ International Conference on Intelligent Robots and Systems November 3-7, 2013 at Tokyo Big Sight, Japan 

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Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints


Mar 14, 2013
Mária Svoreňová, Ivana Černá, Calin Belta

* Technical report accompanying the ACC 2013 paper 

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Technical Report: A Receding Horizon Algorithm for Informative Path Planning with Temporal Logic Constraints


Jan 31, 2013
Austin Jones, Mac Schwager, Calin Belta

* Extended version of paper accepted to 2013 IEEE International Conference on Robotics and Automation (ICRA) 

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