PUBLICATIONS

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2014

Alphan Ulusoy and  Calin Belta, Receding Horizon Temporal Logic Control in Dynamic Environments, The International Journal of Robotics Research (IJRR) vol. 33(12), pp. 1593-1607, 2014 (pdf)

@article{doi:10.1177/0278364914537008,
abstract = { We present a receding horizon method for controlling an autonomous vehicle that must satisfy a rich mission specification over service requests occurring at the regions of a partitioned environment. The overall mission specification consists of a temporal logic statement over a set of static, a priori known requests, a regular expression over a set of dynamic requests that can be sensed only locally, and a servicing priority order over these dynamic requests. Our approach is based on two main steps. First, we construct an abstraction for the motion of the vehicle in the environment by using input–output linearization and assignment of vector fields to the regions in the partition. Second, a receding horizon controller computes local plans within the sensing range of the vehicle such that both local and global mission specifications are satisfied. We implement and evaluate our method through experiments and simulations consisting of a quadrotor performing a persistent surveillance task over a planar grid environment. },
author = {Alphan Ulusoy and Calin Belta},
doi = {10.1177/0278364914537008},
eprint = {https://doi.org/10.1177/0278364914537008},
journal = {The International Journal of Robotics Research},
number = {12},
pages = {1593-1607},
title = {Receding horizon temporal logic control in dynamic environments},
url = {https://doi.org/10.1177/0278364914537008},
volume = {33},
year = {2014},
bdsk-url-1 = {https://doi.org/10.1177/0278364914537008}}

Igor Cizelj and Calin Belta, Control of Noisy Differential-Drive Vehicles from Time-Bounded Temporal Logic Specifications, The International Journal of Robotics Research (IJRR), vol. 33, no. 8, pp. 1112-1129, 2014 (pdf)

@article{doi:10.1177/0278364914522312,
abstract = { We address the problem of controlling a noisy differential drive mobile robot such that the probability of satisfying a specification given as a bounded linear temporal logic formula over a set of properties at the regions in the environment is maximized. We assume that the vehicle can determine its precise initial position in a known map of the environment. However, motivated by practical limitations, we assume that the vehicle is equipped with noisy actuators and, during its motion in the environment, it can only measure the angular velocity of its wheels using limited accuracy incremental encoders. Assuming the duration of the motion is finite, we map the measurements to a Markov decision process (MDP). We use recent results in statistical model checking to obtain an MDP control policy that maximizes the probability of satisfaction. We translate this policy to a vehicle feedback control strategy and show that the probability that the vehicle satisfies the specification in the environment is bounded from below by the probability of satisfying the specification on the MDP. We illustrate our method with simulations and experimental results. },
author = {Igor Cizelj and Calin Belta},
doi = {10.1177/0278364914522312},
eprint = {https://doi.org/10.1177/0278364914522312},
journal = {The International Journal of Robotics Research},
number = {8},
pages = {1112-1129},
title = {Control of noisy differential-drive vehicles from time-bounded temporal logic specifications},
url = {https://doi.org/10.1177/0278364914522312},
volume = {33},
year = {2014},
bdsk-url-1 = {https://doi.org/10.1177/0278364914522312}}

Ebru Aydin Gol, Xuchu Ding, Mircea Lazar, and Calin Belta, Finite Bisimulations for Switched Linear Systems, IEEE Transactions on Automatic Control, vol. 59, no. 12, pp. 3122 – 3134, 2014 (pdf)

@ARTICLE{6882791,
author={Aydin Gol, Ebru and Ding, Xuchu and Lazar, Mircea and Belta, Calin},
journal={IEEE Transactions on Automatic Control},
title={Finite Bisimulations for Switched Linear Systems},
year={2014},
volume={59},
number={12},
pages={3122-3134},
doi={10.1109/TAC.2014.2351653}}

Ebru Aydin Gol, Ezio Bartocci, Calin Belta, A Formal Methods Approach to Pattern Synthesis in Reaction Diffusion Systems, 53rd IEEE Conference on Decision and Control (CDC), Los Angeles, CA 2014 (pdf)

@INPROCEEDINGS{7039367,
author={Gol, Ebru Aydin and Bartocci, Ezio and Belta, Calin},
booktitle={53rd IEEE Conference on Decision and Control},
title={A formal methods approach to pattern synthesis in reaction diffusion systems},
year={2014},
volume={},
number={},
pages={108-113},
doi={10.1109/CDC.2014.7039367}}

Austin Jones, Zhaodan Kong, and Calin Belta, Anomaly Detection in Cyber-Physical Systems: A Formal Methods Approach, 53rd IEEE Conference on Decision and Control (CDC), Los Angeles, CA 2014 (pdf)

@INPROCEEDINGS{7039487,
author={Jones, Austin and Kong, Zhaodan and Belta, Calin},
booktitle={53rd IEEE Conference on Decision and Control},
title={Anomaly detection in cyber-physical systems: A formal methods approach},
year={2014},
volume={},
number={},
pages={848-853},
doi={10.1109/CDC.2014.7039487}}

Kevin Leahy, Dingjiang Zhou, Cristian Vasile, Konstantinos Oikonomopoulos, Mac Schwager and Calin Belta, Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints, 2014 International Symposium on Experimental Robotics (ISER 2014), Marrakech and Essaouira, Morocco, June 15-18, 2014 (pdf)

@inbook{Leahy2016,
abstract = {In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques were used to generate collision-free motion plans for a team of vehicles to satisfy a temporal logic specification. Vector fields were created for use with a differential flatness-based controller, allowing vehicle flight and deployment to be fully automated according to the motion plans. The use of charging platforms with the vehicles allows for truly persistent missions. Experiments were performed with two quadrotors over 50 runs to validate the theoretical results.},
address = {Cham},
author = {Leahy, Kevin and Zhou, Dingjiang and Vasile, Cristian-Ioan and Oikonomopoulos, Konstantinos and Schwager, Mac and Belta, Calin},
booktitle = {Experimental Robotics: The 14th International Symposium on Experimental Robotics},
doi = {10.1007/978-3-319-23778-7_40},
editor = {Hsieh, M. Ani and Khatib, Oussama and Kumar, Vijay},
isbn = {978-3-319-23778-7},
pages = {605–619},
publisher = {Springer International Publishing},
title = {Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints},
url = {https://doi.org/10.1007/978-3-319-23778-7_40},
year = {2016},
bdsk-url-1 = {https://doi.org/10.1007/978-3-319-23778-7_40}}

Cristian Ioan Vasile and Calin Belta, An Automata-Theoretic Approach to the Vehicle Routing Problem, Robotics: Science and Systems (RSS) 2014, Berkeley, CA, 2014 (pdf)

@inproceedings{vasile2014automata,
  title={An Automata-Theoretic Approach to the Vehicle Routing Problem.},
  author={Vasile, Cristian Ioan and Belta, Calin},
  booktitle={Robotics: Science and Systems},
  pages={1--9},
  year={2014},
  organization={Berkeley, CA}
}

Cristian Ioan Vasile, Calin Belta, Reactive Sampling-Based Temporal Logic Path Planning, IEEE International Conference on Robotics and Automation (ICRA) 2014, Hong Kong, 2014 (pdf)

@INPROCEEDINGS{6907486,
author={Vasile, Cristian Ioan and Belta, Calin},
booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA)},
title={Reactive sampling-based temporal logic path planning},
year={2014},
volume={},
number={},
pages={4310-4315},
doi={10.1109/ICRA.2014.6907486}}

Zhaodan Kong, Austin Jones, Ana Medina Ayala, Ebru Aydin Gol and Calin Belta ,Temporal Logic Inference for Classification and Prediction from Data, Hybrid Systems: Computation and Control (HSCC), Berlin, Germany, 2014 (pdf)

@inproceedings{kong2014temporal,
  title={Temporal logic inference for classification and prediction from data},
  author={Kong, Zhaodan and Jones, Austin and Medina Ayala, Ana and Aydin Gol, Ebru and Belta, Calin},
  booktitle={Proceedings of the 17th international conference on Hybrid systems: computation and control},
  pages={273--282},
  year={2014}
}

Ebru Aydin Gol, Calin Belta, An Additive Cost Approach to Optimal Temporal Logic Control, American Control Conference (ACC), Portland, USA 2014 (pdf)

@INPROCEEDINGS{6859209,
author={Aydin Gol, Ebru and Belta, Calin},
booktitle={2014 American Control Conference},
title={An additive cost approach to optimal Temporal Logic control},
year={2014},
volume={},
number={},
pages={1769-1774},
doi={10.1109/ACC.2014.6859209}}

Xuchu (Dennis) Ding, Stephen L. Smith, Calin Belta, and Daniela Rus, Optimal Control of Markov Decision Processes with Linear Temporal Logic Constraints, IEEE Transactions on Automatic Control vol.59, no. 5, pp. 1244-1257, 2014 (pdf)

@ARTICLE{6702421,
author={Ding, Xuchu and Smith, Stephen L. and Belta, Calin and Rus, Daniela},
journal={IEEE Transactions on Automatic Control},
title={Optimal Control of Markov Decision Processes With Linear Temporal Logic Constraints},
year={2014},
volume={59},
number={5},
pages={1244-1257},
doi={10.1109/TAC.2014.2298143}}

Alphan Ulusoy, Tichakorn Wongpiromsarn, Calin Belta, Incremental Controller Synthesis in Probabilistic Environments with Temporal Logic Constraints, The International Journal of Robotics Research (IJRR) vol. 33, no. 8, pp. 1130 – 1144, 2014 (pdf)

@article{doi:10.1177/0278364913519000,
abstract = { In this paper, we consider automatic computation of optimal control strategies for a robot interacting with a set of independent uncontrollable agents in a graph-like environment. The mission specification is given as a syntactically co-safe Linear Temporal Logic formula over some properties that hold at the vertices of the environment. The robot is assumed to be a deterministic transition system, while the agents are probabilistic Markov models. The goal is to control the robot such that the probability of satisfying the mission specification is maximized. We propose a computationally efficient incremental algorithm based on the fact that temporal logic verification is computationally cheaper than synthesis. We present several case studies where we compare our approach to the classical non-incremental approach in terms of computation time and memory usage. },
author = {Alphan Ulusoy and Tichakorn Wongpiromsarn and Calin Belta},
doi = {10.1177/0278364913519000},
eprint = {https://doi.org/10.1177/0278364913519000},
journal = {The International Journal of Robotics Research},
number = {8},
pages = {1130-1144},
title = {Incremental controller synthesis in probabilistic environments with temporal logic constraints},
url = {https://doi.org/10.1177/0278364913519000},
volume = {33},
year = {2014},
bdsk-url-1 = {https://doi.org/10.1177/0278364913519000}}

Xu Chu Ding, Mircea Lazar, Calin Belta, LTL Receding Horizon Control for Finite Deterministic Systems, Automatica, 50(2): 399-408, 2014 (pdf)

@article{DING2014399,
abstract = {This paper considers receding horizon control of finite deterministic systems, which must satisfy a high level, rich specification expressed as a linear temporal logic formula. Under the assumption that time-varying rewards are associated with states of the system and these rewards can be observed in real-time, the control objective is to maximize the collected reward while satisfying the high level task specification. In order to properly react to the changing rewards, a controller synthesis framework inspired by model predictive control is proposed, where the rewards are locally optimized at each time-step over a finite horizon, and the optimal control computed for the current time-step is applied. By enforcing appropriate constraints, the infinite trajectory produced by the controller is guaranteed to satisfy the desired temporal logic formula. Simulation results demonstrate the effectiveness of the approach.},
author = {Xuchu Ding and Mircea Lazar and Calin Belta},
doi = {https://doi.org/10.1016/j.automatica.2013.11.030},
issn = {0005-1098},
journal = {Automatica},
keywords = {Finite deterministic systems, Model predictive control, Formal methods, Optimal control},
number = {2},
pages = {399-408},
title = {LTL receding horizon control for finite deterministic systems},
url = {https://www.sciencedirect.com/science/article/pii/S0005109813005475},
volume = {50},
year = {2014},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S0005109813005475},
bdsk-url-2 = {https://doi.org/10.1016/j.automatica.2013.11.030}}

Ana Medina Ayala, Sean B. Andersson, and Calin Belta, Formal Synthesis of Control Policies for Continuous Time Markov Processes from Time-Bounded Temporal Logic Specifications, IEEE Transactions on Automatic Control, vol. 59, no. 9, pp. 2568-2574, 2014 (pdf)

@ARTICLE{6750084,
author={Medina Ayala, Ana and Andersson, Sean B. and Belta, Calin},
journal={IEEE Transactions on Automatic Control},
title={Formal Synthesis of Control Policies for Continuous Time Markov Processes From Time-Bounded Temporal Logic Specifications},
year={2014},
volume={59},
number={9},
pages={2568-2573},
doi={10.1109/TAC.2014.2309033}}

Ebru Aydin Gol, Mircea Lazar, Calin Belta, Language-Guided Controller Design for Linear Systems, IEEE Transactions on Automatic Control, vol. 59, no. 5, pp. 1163-1176, 2014 (pdf)

@ARTICLE{6687239,
author={Aydin Gol, Ebru and Lazar, Mircea and Belta, Calin},
journal={IEEE Transactions on Automatic Control},
title={Language-Guided Controller Synthesis for Linear Systems},
year={2014},
volume={59},
number={5},
pages={1163-1176},
doi={10.1109/TAC.2013.2295664}}
Books  |  Patents  |  2024  |  2023   |   2022   |   2021   |  2020   |   2019   |   2018   |   2017   |   2016   |   2015   |   2014   |   2013   |   2012   |   2011   |   2010   |   2009   |   2008   |   2007   |   before 2007