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09/18/2023
Conformal Temporal Logic Planning using Large Language Models: Knowing When to Do What and When to Ask for Help
This paper addresses a new motion planning problem for mobile robots tas...
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09/15/2023
Uncertainty-bounded Active Monitoring of Unknown Dynamic Targets in Road-networks with Minimum Fleet
Fleets of unmanned robots can be beneficial for the long-term monitoring...
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05/11/2023
Neural Lyapunov Control for Discrete-Time Systems
While ensuring stability for linear systems is well understood, it remai...
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05/09/2023
Resilient Temporal Logic Planning in the Presence of Robot Failures
Several task and motion planning algorithms have been proposed recently ...
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04/27/2023
Detection of Adversarial Physical Attacks in Time-Series Image Data
Deep neural networks (DNN) have become a common sensing modality in auto...
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12/08/2022
Targeted Adversarial Attacks against Neural Network Trajectory Predictors
Trajectory prediction is an integral component of modern autonomous syst...
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09/13/2022
Multi-robot Mission Planning in Dynamic Semantic Environments
This paper addresses a new semantic multi-robot planning problem in unce...
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09/13/2022
Verified Compositions of Neural Network Controllers for Temporal Logic Control Objectives
This paper presents a new approach to design verified compositions of Ne...
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09/09/2022
Learning Enabled Fast Planning and Control in Dynamic Environments with Intermittent Information
This paper addresses a safe planning and control problem for mobile robo...
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05/12/2022
Reactive Informative Planning for Mobile Manipulation Tasks under Sensing and Environmental Uncertainty
In this paper we address mobile manipulation planning problems in the pr...
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05/09/2022
Accelerated Reinforcement Learning for Temporal Logic Control Objectives
This paper addresses the problem of learning control policies for mobile...
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04/25/2022
Planning and Control of Multi-Robot-Object Systems under Temporal Logic Tasks and Uncertain Dynamics
We develop an algorithm for the motion and task planning of a system com...
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08/26/2021
Robust Motion Planning in the Presence of Estimation Uncertainty
Motion planning is a fundamental problem and focuses on finding control ...
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07/23/2021
Technical Report: Distributed Sampling-based Planning for Non-Myopic Active Information Gathering
This paper addresses the problem of active information gathering for mul...
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03/16/2021
Technical Report: Scalable Active Information Acquisition for Multi-Robot Systems
This paper proposes a novel highly scalable non-myopic planning algorith...
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12/18/2020
Sensor-Based Temporal Logic Planning in Uncertain Semantic Maps
This paper addresses a multi-robot mission planning problem in uncertain...
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12/14/2020
Reactive Temporal Logic Planning for Multiple Robots in Unknown Occupancy Grid Maps
This paper proposes a new reactive temporal logic planning algorithm for...
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11/01/2020
Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments
Complex manipulation tasks, such as rearrangement planning of numerous o...
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09/01/2020
Distributed Locally Non-interfering Connectivity via Linear Temporal Logic
In this paper, we consider networks of static sensors with integrated se...
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02/23/2020
VisionGuard: Runtime Detection of Adversarial Inputs to Perception Systems
Deep neural network (DNN) models have proven to be vulnerable to adversa...
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09/11/2019
Reinforcement Learning for Temporal Logic Control Synthesis with Probabilistic Satisfaction Guarantees
Reinforcement Learning (RL) has emerged as an efficient method of choice...
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09/02/2019
An Abstraction-Free Method for Multi-Robot Temporal Logic Optimal Control Synthesis
The majority of existing Linear Temporal Logic (LTL) planning methods re...
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09/21/2018
STyLuS^*: A Temporal Logic Optimal Control Synthesis Algorithm for Large-Scale Multi-Robot Systems
This paper proposes proposes a new highly scalable optimal control synth...
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05/03/2018
Distributed State Estimation Using Intermittently Connected Robot Networks
This paper considers the problem of distributed state estimation using m...
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04/29/2018
Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks
In this paper, we present a control framework that allows magnetic micro...
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06/02/2017
