PUBLICATIONS

Books  |  Patents  |  2024  |  2023   |   2022   |   2021   |  2020   |   2019   |   2018   |   2017   |   2016   |   2015   |   2014   |   2013   |   2012   |   2011   |   2010   |   2009   |   2008   |   2007   |   before 2007

2019

Guang Yang, Bee Vang, Zachary Serlin, Calin Belta, and Roberto Tron, Sampling-Based Motion Planning via Control Barrier Functions, Proceedings of the 2019 3rd International Conference on Automation, Control and Robots (ICACR), 2019 (pdf)

@inproceedings{10.1145/3365265.3365282,
abstract = {Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion planning is generating control signals for nonlinear systems that result in obstacle free paths through dynamic environments. In this paper, we propose Control Barrier Function guided Rapidly-exploring Random Trees (CBF-RRT), a sampling-based motion planning algorithm for continuoustime nonlinear systems in dynamic environments. The algorithm focuses on two objectives: efficiently generating feasible controls that steer the system toward a goal region, and handling environments with dynamical obstacles in continuous time. We formulate the control synthesis problem as a Quadratic Program (QP) that enforces Control Barrier Function (CBF) constraints to achieve obstacle avoidance. Additionally, CBF-RRT does not require nearest neighbor or explicit collision checks during sampling.},
address = {New York, NY, USA},
author = {Yang, Guang and Vang, Bee and Serlin, Zachary and Belta, Calin and Tron, Roberto},
booktitle = {Proceedings of the 2019 3rd International Conference on Automation, Control and Robots},
doi = {10.1145/3365265.3365282},
isbn = {9781450372886},
keywords = {Motion Planning, Sampling, Control},
location = {Prague, Czech Republic},
numpages = {8},
pages = {22–29},
publisher = {Association for Computing Machinery},
series = {ICACR 2019},
title = {Sampling-Based Motion Planning via Control Barrier Functions},
url = {https://doi.org/10.1145/3365265.3365282},
year = {2019},
bdsk-url-1 = {https://doi.org/10.1145/3365265.3365282}}

C. Belta, Formal Methods for Controlling Dynamical Systems. In: Baillieul J., Samad T. (eds) Encyclopedia of Systems and Control. Springer, London, 2019 (pdf)

@incollection{belta2021formal,
title={Formal Methods for Controlling Dynamical Systems},
author={Belta, Calin},
booktitle={Encyclopedia of Systems and Control},
pages={834–841},
year={2021},
publisher={Springer}}

Xiao Li, Zachary Serlin, Guang Yang, Calin Belta, A Formal Methods Approach to Interpretable Reinforcement Learning for Robotic Planning, Science: Robotics, vol. 4, issue 37, 2019 (pdf)

@article{li2019formal,
title={A formal methods approach to interpretable reinforcement learning for robotic planning},
author={Li, Xiao and Serlin, Zachary and Yang, Guang and Belta, Calin},
journal={Science Robotics},
volume={4},
number={37},
pages={eaay6276},
year={2019},
publisher={American Association for the Advancement of Science}}

Ashley RG Libby, Demarcus Briers, Iman Haghighi, David A. Joy, Bruce R. Conklin, Calin Belta, Todd C. McDevitt, Automated Design of Pluripotent Stem Cell Self-Organization, Cell Systems, vol. 9, pp.1-13, 2019 (pdf)

@article{LIBBY2019483,
author = {Ashley R.G. Libby and Demarcus Briers and Iman Haghighi and David A. Joy and Bruce R. Conklin and Calin Belta and Todd C. McDevitt},
doi = {https://doi.org/10.1016/j.cels.2019.10.008},
issn = {2405-4712},
journal = {Cell Systems},
keywords = {control theory, bioengineering, multicellular patterning, machine learning, mathematical optimization, stem cell biology},
number = {5},
pages = {483-495.e10},
title = {Automated Design of Pluripotent Stem Cell Self-Organization},
url = {https://www.sciencedirect.com/science/article/pii/S2405471219303849},
volume = {9},
year = {2019},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S2405471219303849},
bdsk-url-2 = {https://doi.org/10.1016/j.cels.2019.10.008}}

Austin Jones, Kevin Leahy, Cristian Ioan Vasile, Sadra Sadraddini, Zachary Serlin, Roberto Tron, Calin Belta, ScRATCHS: Scalable and Robust Algorithms for Task-Based Coordination from High-Level Specifications, The International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, 2019 (pdf)

@inproceedings{10.1007/978-3-030-95459-8_14,
abstract = {Existing approaches for coordinating teams of heterogeneous agents either consider small numbers of agents, are application-specific solutions, or do not adequately address requirements, e.g., deadlines or inter-task dependencies, common to real-world applications. We develop a framework called Scalable and Robust Algorithms for Task-based Coordination from High-level Specifications (ScRATCHS) to coordinate such teams. We define a specification language, called capability temporal logic (CaTL), to describe rich, temporal properties involving tasks requiring the participation of multiple agents with multiple capabilities, e.g., sensors or end effectors. An example specification is “Ensure at least 10 airborne cameras and 3 airborne lidars are surveying Site A for at least 15 min simultaneously during every hour-long period. Make sure that 5 cameras are always observing Site B. Send 10 lidars to Site B within 3 h of deployment and remain there until 4 ground vehicles with infrared sensors arrive 2 h later.” Arbitrary missions and team dynamics are jointly encoded as constraints in a mixed integer linear program (MILP), which can be solved efficiently using commercial off-the-shelf solvers. ScRATCHS also enables optimization of the resulting plan to be maximally robust to agent attrition at the penalty of increased computation time. The flexible specification language, fast solution time, and optional robustness of ScRATCHS provide a first step towards a multi-purpose on-the-fly planning tool for a supervisor tasking large teams with multiple capabilities enacting missions with multiple tasks. We validate our approach using randomized computational experiments and via a hardware demonstration.},
address = {Cham},
author = {Jones, Austin M. and Leahy, Kevin and Vasile, Cristian and Sadraddini, Sadra and Serlin, Zachary and Tron, Roberto and Belta, Calin},
booktitle = {Robotics Research},
editor = {Asfour, Tamim and Yoshida, Eiichi and Park, Jaeheung and Christensen, Henrik and Khatib, Oussama},
isbn = {978-3-030-95459-8},
pages = {224–241},
publisher = {Springer International Publishing},
title = {ScRATCHS: Scalable and Robust Algorithms for Task-Based Coordination from High-Level Specifications},
year = {2022}}

Alessio Mosca, Cristian-Ioan Vasile, Calin Belta, Davide Raimondo, Multi-robot routing and scheduling with temporal logic and synchronization constraint, International Conference on Control and Robots (ICCR), Jeju Island, Korea, 2019 (pdf)

@inproceedings{10.1145/3387304.3387322,
abstract = {We consider the problem of scheduling and planning the motion of a fleet of robots involved in semiconductor manufacturing. The robots are tasked with transporta-tion demands of goods that must be fulfilled according to given time constraints and synchronization rules. The de-mands and synchronization rules are specified using Time Window Temporal Logic (TWTL). Inspiring by model checking techniques, we develop a solution able to guar-antee to satisfy both demands and synchronization rules. The proposed approach is tested through simulation on a semiconductor production site of the European project “Power Semiconductor and Electronics Manufacturing 4.0 – (SemI40)”.},
address = {New York, NY, USA},
author = {Mosca, Alessio and Vasile, Cristian-Ioan and Belta, Calin and Raimondo, Davide M.},
booktitle = {Proceedings of the 2019 2nd International Conference on Control and Robot Technology},
doi = {10.1145/3387304.3387322},
isbn = {9781450372527},
keywords = {Time Window Temporal Logic, Synchronization, Routing and Scheduling, Manufacturing},
location = {Jeju, Republic of Korea},
numpages = {6},
pages = {40–45},
publisher = {Association for Computing Machinery},
series = {ICCRT 2019},
title = {Multi-Robot Routing and Scheduling with Temporal Logic and Synchronization Constraints},
url = {https://doi.org/10.1145/3387304.3387322},
year = {2020},
bdsk-url-1 = {https://doi.org/10.1145/3387304.3387322}}

Kasra Ghasemi, Sadra Sadraddini, Calin Belta, Compositional Synthesis of Decentralized Robust Set-Invariance Controllers for Large-scale Linear Systems, IEEE Conference on Decision and Control (CDC), Nice, France, 2019 (pdf)

@INPROCEEDINGS{9028887,
author={Ghasemi, Kasra and Sadraddini, Sadra and Belta, Calin},
booktitle={2019 IEEE 58th Conference on Decision and Control (CDC)},
title={Compositional Synthesis of Decentralized Robust Set-Invariance Controllers for Large-scale Linear Systems},
year={2019},
volume={},
number={},
pages={2054-2059},
doi={10.1109/CDC40024.2019.9028887}}

Noushin Mehdipour, Cristian Ioan Vasile, Calin Belta, Average-based Robustness for Continuous-Time Signal Temporal Logic, IEEE Conference on Decision and Control (CDC), Nice, France, 2019 (pdf)

@INPROCEEDINGS{9029989,
author={Mehdipour, Noushin and Vasile, Cristian-Ioan and Belta, Calin},
booktitle={2019 IEEE 58th Conference on Decision and Control (CDC)},
title={Average-based Robustness for Continuous-Time Signal Temporal Logic},
year={2019},
volume={},
number={},
pages={5312-5317},
doi={10.1109/CDC40024.2019.9029989}}

Iman Haghighi, Noushin Mehdipour, Ezio Bartocci, Calin Belta, Control from Signal Temporal Logic Specifications with Smooth Cumulative Quantitative Semantics, IEEE Conference on Decision and Control (CDC), Nice, France, 2019 (pdf)

@INPROCEEDINGS{9029429,
author={Haghighi, Iman and Mehdipour, Noushin and Bartocci, Ezio and Belta, Calin},
booktitle={2019 IEEE 58th Conference on Decision and Control (CDC)},
title={Control from Signal Temporal Logic Specifications with Smooth Cumulative Quantitative Semantics},
year={2019},
volume={},
number={},
pages={4361-4366},
doi={10.1109/CDC40024.2019.9029429}}

Wei Xiao, Calin Belta, Control Barrier Functions for Systems with High Relative Degree, IEEE Conference on Decision and Control (CDC), Nice, France, 2019 (pdf)

@INPROCEEDINGS{9029455,
author={Xiao, Wei and Belta, Calin},
booktitle={2019 IEEE 58th Conference on Decision and Control (CDC)},
title={Control Barrier Functions for Systems with High Relative Degree},
year={2019},
volume={},
number={},
pages={474-479},
doi={10.1109/CDC40024.2019.9029455}}

Calin Belta and Sadra Sadraddini, Formal Methods for Control Synthesis: An Optimization Perspective, Annual Review of Control, Robotics, and Autonomous Systems, vol. 2, no. 1, pp. 115-140, 2019 (pdf)

@article{doi:10.1146/annurev-control-053018-023717,
author = {Belta, Calin and Sadraddini, Sadra},
doi = {10.1146/annurev-control-053018-023717},
eprint = {https://doi.org/10.1146/annurev-control-053018-023717},
journal = {Annual Review of Control, Robotics, and Autonomous Systems},
number = {1},
pages = {115-140},
title = {Formal Methods for Control Synthesis: An Optimization Perspective},
url = {https://doi.org/10.1146/annurev-control-053018-023717},
volume = {2},
year = {2019},
bdsk-url-1 = {https://doi.org/10.1146/annurev-control-053018-023717}}

Dogan Ulus and Calin Belta, Reactive Control Meets Runtime Verification: A Case Study of Navigation, 19th International Conference on Runtime Verification (RV), Porto, Portugal, 2019 (pdf)

@inproceedings{10.1007/978-3-030-32079-9_21,
abstract = {This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from formal specifications are embedded into the navigation stack. We use temporal logic and regular expressions to describe safety requirements and mission specifications, respectively. An immediate benefit of our approach is that it leverages simple requirements and objectives of traditional control applications to more complex specifications in a non-intrusive and compositional way. Finally, we demonstrate a simulation of robots controlled by the proposed architecture and we discuss further extensions of our approach.},
address = {Cham},
author = {Ulus, Dogan and Belta, Calin},
booktitle = {Runtime Verification},
editor = {Finkbeiner, Bernd and Mariani, Leonardo},
isbn = {978-3-030-32079-9},
pages = {368–374},
publisher = {Springer International Publishing},
title = {Reactive Control Meets Runtime Verification: A Case Study of Navigation},
year = {2019}}

Wei Xiao, Christos Cassandras, Calin Belta, Decentralized Merging Control in Traffic Networks with Noisy Vehicle Dynamics: a Joint Optimal Control and Barrier Function Approach, 22nd Intelligent Transportation Systems Conference (ITSC), Auckland, New Zeeland, 2019 (pdf)

@INPROCEEDINGS{8917473,
author={Xiao, Wei and Cassandras, Christos G. and Belta, Calin},
booktitle={2019 IEEE Intelligent Transportation Systems Conference (ITSC)},
title={Decentralized Merging Control in Traffic Networks with Noisy Vehicle Dynamics: a Joint Optimal Control and Barrier Function Approach},
year={2019},
volume={},
number={},
pages={3162-3167},
doi={10.1109/ITSC.2019.8917473}}

Junmin Wang, Samuel A. Isaacson, and Calin Belta, Modeling Genetic Circuit Behavior in Transiently Transfected Mammalian Cells, ACS Synth. Biol., March, 2019, DOI: 10.1021 / acssynbio.8b00166 (pdf)

@article{cite-key,
annote = {doi: 10.1021/acssynbio.8b00166},
author = {Wang, Junmin and Isaacson, Samuel A. and Belta, Calin},
date = {2019/04/19},
date-added = {2023-12-24 05:49:08 -0500},
date-modified = {2023-12-24 05:49:08 -0500},
doi = {10.1021/acssynbio.8b00166},
journal = {ACS Synthetic Biology},
journal1 = {ACS Synthetic Biology},
journal2 = {ACS Synth. Biol.},
month = {04},
number = {4},
pages = {697–707},
publisher = {American Chemical Society},
title = {Modeling Genetic Circuit Behavior in Transiently Transfected Mammalian Cells},
type = {doi: 10.1021/acssynbio.8b00166},
url = {https://doi.org/10.1021/acssynbio.8b00166},
volume = {8},
year = {2019},
year1 = {2019},
bdsk-url-1 = {https://doi.org/10.1021/acssynbio.8b00166}}

Sadra Sadraddini and Calin Belta, Formal Synthesis of Control Strategies for Positive Monotone Systems, IEEE Transactions on Automatic Control, vol. 64, no. 2, 2019 (pdf)

@ARTICLE{8310901,
author={Sadraddini, Sadra and Belta, Calin},
journal={IEEE Transactions on Automatic Control},
title={Formal Synthesis of Control Strategies for Positive Monotone Systems},
year={2019},
volume={64},
number={2},
pages={480-495},
doi={10.1109/TAC.2018.2814631}}

Noushin Mehdipour, Cristian Ioan Vasile, Calin Belta, Arithmetic-Geometric Mean Robustness for Control from Signal Temporal Logic Specifications, American Control Conference, Philadelphia, PA, 2019 (pdf)

@INPROCEEDINGS{8814487,
author={Mehdipour, Noushin and Vasile, Cristian-Ioan and Belta, Calin},
booktitle={2019 American Control Conference (ACC)},
title={Arithmetic-Geometric Mean Robustness for Control from Signal Temporal Logic Specifications},
year={2019},
volume={},
number={},
pages={1690-1695},
doi={10.23919/ACC.2019.8814487}}

Junmin Wang, Calin Belta, Retroactivity Affects the Adaptive Robustness of Transcriptional Regulatory Networks, American Control Conference, Philadelphia, PA, 2019 (pdf)

@INPROCEEDINGS{8814936,
author={Wang, Junmin and Belta, Calin},
booktitle={2019 American Control Conference (ACC)},
title={Retroactivity Affects the Adaptive Robustness of Transcriptional Regulatory Networks},
year={2019},
volume={},
number={},
pages={5396-5401},
doi={10.23919/ACC.2019.8814936}}

Guang Yang, Roberto Tron, Calin Belta, Self-triggered Control for Safety Critical Systems using Control Barrier Functions, American Control Conference, Philadelphia, PA, 2019 (pdf)

@INPROCEEDINGS{8814657,
author={Yang, Guang and Belta, Calin and Tron, Roberto},
booktitle={2019 American Control Conference (ACC)},
title={Self-triggered Control for Safety Critical Systems Using Control Barrier Functions},
year={2019},
volume={},
number={},
pages={4454-4459},
doi={10.23919/ACC.2019.8814657}}

Wei Xiao, Calin Belta and Christos Cassandras, Decentralized Optimal Merging at an Intersection: a Control Barrier Function Approach, International Conference on Cyber-Physical Systems, Montreal, Canada, 2019 (pdf)

@inproceedings{10.1145/3302509.3311054,
abstract = {In this paper, we aim to optimize the process of Connected and Automated Vehicles (CAVs) merging at a traffic intersection while guaranteeing the state, control and safety constraints. We decompose the task of automatic merging for all the CAVs in a control zone around a merging point into same-lane safety constraints and different-lane safe merging, and implement these requirements using control barrier functions (CBFs). We consider two main objectives. First, to minimize travel time, we make the CAVs reach the road maximum speed with exponentially stabilizing control Lyapunov functions (CLF). Second, we penalize energy consumption as a cost in an optimization problem. We then decompose the merging problem into decentralized subproblems formulated as a sequence of quadratic programs (QP), which are solved in real time. Our simulations and comparisons show that the method proposed here outperforms ad hoc controllers used in traffic system simulators and provides comparable results to the optimal control solution of the merging problem in earlier work.},
address = {New York, NY, USA},
author = {Xiao, Wei and Belta, Calin and Cassandras, Christos G.},
booktitle = {Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems},
doi = {10.1145/3302509.3311054},
isbn = {9781450362856},
keywords = {traffic merging, decentralized control, optimal control, control lyapunov function, control barrier function},
location = {Montreal, Quebec, Canada},
numpages = {10},
pages = {270–279},
publisher = {Association for Computing Machinery},
series = {ICCPS ’19},
title = {Decentralized Merging Control in Traffic Networks: A Control Barrier Function Approach},
url = {https://doi.org/10.1145/3302509.3311054},
year = {2019},
bdsk-url-1 = {https://doi.org/10.1145/3302509.3311054}}
Books  |  Patents  |  2024  |  2023   |   2022   |   2021   |  2020   |   2019   |   2018   |   2017   |   2016   |   2015   |   2014   |   2013   |   2012   |   2011   |   2010   |   2009   |   2008   |   2007   |   before 2007