PUBLICATIONS

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2021

Xiao, W., Cassandras, G.C., Belta, C. Safety-Critical Optimal Control for Autonomous Systems. J Syst Sci Complex 34, 1723–1742, 2021 (pdf)

@article{cite-key,
author = {Xiao, Wei and Cassandras, G. Christos and Belta, Calin},
date = {2021/10/01},
date-added = {2023-12-20 19:05:20 +0800},
date-modified = {2023-12-20 19:05:20 +0800},
doi = {10.1007/s11424-021-1230-x},
id = {Xiao2021},
isbn = {1559-7067},
journal = {Journal of Systems Science and Complexity},
number = {5},
pages = {1723–1742},
title = {Safety-Critical Optimal Control for Autonomous Systems},
url = {https://doi.org/10.1007/s11424-021-1230-x},
volume = {34},
year = {2021},
bdsk-url-1 = {https://doi.org/10.1007/s11424-021-1230-x}}

Wei Xiao, Calin Belta, Christos G. Cassandras, Event-Triggered Safety-Critical Control for Systems with Unknown Dynamics Conference, IEEE Conference on Decision and Control (CDC), 2021 (pdf)

@INPROCEEDINGS{9682792,
author={Xiao, Wei and Belta, Calin and Cassandras, Christos G.},
booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
title={Event-Triggered Safety-Critical Control for Systems with Unknown Dynamics},
year={2021},
volume={},
number={},
pages={540-545},
doi={10.1109/CDC45484.2021.9682792}}

Suhail Alsalehi, Noushin Mehdipour, Ezio Bartocci, Calin Belta, Neural Network-based Control for Multi-Agent Systems from Spatio-Temporal Specifications Conference: IEEE Conference on Decision and Control (CDC), 2021 (pdf)

@INPROCEEDINGS{9682921,
author={Alsalehi, Suhail and Mehdipour, Noushin and Bartocci, Ezio and Belta, Calin},
booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
title={Neural Network-based Control for Multi-Agent Systems from Spatio-Temporal Specifications},
year={2021},
volume={},
number={},
pages={5110-5115},
doi={10.1109/CDC45484.2021.9682921}}

Bassam Helou, Aditya Dusi, Anne Collin, Noushin Mehdipour, Zhiliang Chen, Cristhian Lizarazo, Calin Belta, Tichakorn Wongpiromsarn, Radboud Duintjer Tebbens, Oscar Beijbom,  The  Reasonable  Crowd:  Towards  evidence-based  and  interpretablemodels  of  driving  behavior, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 (pdf)

@INPROCEEDINGS{9635960,
author={Helou, Bassam and Dusi, Aditya and Collin, Anne and Mehdipour, Noushin and Chen, Zhiliang and Lizarazo, Cristhian and Belta, Calin and Wongpiromsarn, Tichakorn and Tebbens, Radboud Duintjer and Beijbom, Oscar},
booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={The Reasonable Crowd: Towards evidence-based and interpretable models of driving behavior},
year={2021},
volume={},
number={},
pages={6708-6715},
doi={10.1109/IROS51168.2021.9635960}}

Giuseppe Bombara, Calin Belta, Offline and Online Learning of Signal Temporal Logic Formulae Using Decision Trees, ACM Transactions on Cyber-Physical Systems, vol. 5, no. 3, pp. 1-23, 2021 (pdf)

@article{10.1145/3433994,
author = {Bombara, Giuseppe and Belta, Calin},
title = {Offline and Online Learning of Signal Temporal Logic Formulae Using Decision Trees},
year = {2021},
issue_date = {July 2021},
publisher = {Association for Computing Machinery},
address = {New York, NY, USA},
volume = {5},
number = {3},
issn = {2378-962X},
url = {https://doi.org/10.1145/3433994},
doi = {10.1145/3433994},
journal = {ACM Trans. Cyber-Phys. Syst.},
month = {mar},articleno = {22},
numpages = {23},
keywords = {anomaly detection, classification, decision trees, logic inference, formal methods, specification mining, online learning, impurity measure, supervised learning, Signal temporal logic}}

Wei Xiao, Calin Belta, Christos G. Cassandras, High Order Control Lyapunov-Barrier Functions for Temporal Logic Specifications, American Control Conference (ACC), New Orleans, Louisiana, 2021 (pdf)

@INPROCEEDINGS{9483028,
author={Xiao, Wei and Belta, Calin A. and Cassandras, Christos G.},
booktitle={2021 American Control Conference (ACC)},
title={High Order Control Lyapunov-Barrier Functions for Temporal Logic Specifications},
year={2021},
volume={},
number={},
pages={4886-4891},
doi={10.23919/ACC50511.2021.9483028}}

Erfan Aasi, Cristian Ioan Vasile, Calin Belta, A Control Architecture for Provably-Correct Autonomous Driving, American Control Conference (ACC), New Orleans, Louisiana, 2021 (pdf)

@INPROCEEDINGS{9482810,
author={Aasi, Erfan and Vasile, Cristian Ioan and Belta, Calin},
booktitle={2021 American Control Conference (ACC)},
title={A Control Architecture for Provably-Correct Autonomous Driving},
year={2021},
volume={},
number={},
pages={2913-2918},
doi={10.23919/ACC50511.2021.9482810}}

Noushin Mehdipour, Cristian Ioan Vasile, Calin Belta, Specifying User Preferences using Weighted Signal Temporal Logic, IEEE Control Systems Letters (L-CSS), 2021, DOI: 10.1109/LCSYS.2020.3047362 (also appearing in American Control Conference (ACC), New Orleans, Louisiana, 2021 (pdf)

@ARTICLE{9309020,
author={Mehdipour, Noushin and Vasile, Cristian-Ioan and Belta, Calin},
journal={IEEE Control Systems Letters},
title={Specifying User Preferences Using Weighted Signal Temporal Logic},
year={2021},
volume={5},
number={6},
pages={2006-2011},
doi={10.1109/LCSYS.2020.3047362}}

Wenliang Liu, Noushin Mehdipour, Calin Belta, Recurrent Neural Network Controllers for Signal Temporal Logic Specifications Subject to Safety Constraints, American Control Conference (ACC), New Orleans, Louisiana, 2021 (pdf)

@ARTICLE{9316734,
author={Liu, Wenliang and Mehdipour, Noushin and Belta, Calin},
journal={IEEE Control Systems Letters},
title={Recurrent Neural Network Controllers for Signal Temporal Logic Specifications Subject to Safety Constraints},
year={2022},
volume={6},
number={},
pages={91-96},
doi={10.1109/LCSYS.2021.3049917}}

Wei Xiao, Noushin Mehdipour, Anne Collin, Amitai Bin-Nun, Emilio Frazzoli, Radboud Tebbens and Calin Belta, Rule-based Optimal Control for Autonomous Driving, 12th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), 2021 (pdf)

@inproceedings{10.1145/3450267.3450542,
author = {Xiao, Wei and Mehdipour, Noushin and Collin, Anne and Bin-Nun, Amitai Y. and Frazzoli, Emilio and Tebbens, Radboud Duintjer and Belta, Calin},
title = {Rule-Based Optimal Control for Autonomous Driving},
year = {2021},
isbn = {9781450383530},
publisher = {Association for Computing Machinery},
address = {New York, NY, USA},
url = {https://doi.org/10.1145/3450267.3450542},
doi = {10.1145/3450267.3450542},
abstract = {We develop optimal control strategies for Autonomous Vehicles (AVs) that are required to meet complex specifications imposed by traffic laws and cultural expectations of reasonable driving behavior. We formulate these specifications as rules, and specify their priorities by constructing a priority structure, called Total ORder over eQuivalence classes (TORQ). We propose a recursive framework, in which the satisfaction of the rules in the priority structure are iteratively relaxed based on their priorities. Central to this framework is an optimal control problem, where convergence to desired states is achieved using Control Lyapunov Functions (CLFs), and safety is enforced through Control Barrier Functions (CBFs). We also show how the proposed framework can be used for after-the-fact, pass/fail evaluation of trajectories – a given trajectory is rejected if we can find a controller producing a trajectory that leads to less violation of the rule priority structure. We present case studies with multiple driving scenarios to demonstrate the effectiveness of the proposed framework.},
booktitle = {Proceedings of the ACM/IEEE 12th International Conference on Cyber-Physical Systems},
pages = {143–154},
numpages = {12},
keywords = {autonomous driving, Lyapunov methods, priority structure, safety},
location = {Nashville, Tennessee},
series = {ICCPS ’21}
}

Wei Xiao, Christos G. Cassandras, Calin Belta, Bridging the Gap between Optimal Trajectory Planning and Safety-Critical Control with Applications to Autonomous Vehicles, Automatica, vol.129, 2021 (pdf)

@article{XIAO2021109592,
author = {Wei Xiao and Christos G. Cassandras and Calin A. Belta},
doi = {https://doi.org/10.1016/j.automatica.2021.109592},
issn = {0005-1098},
journal = {Automatica},
keywords = {Optimal control, Safety-critical control, Optimal merging, Connected and automated vehicles},
pages = {109592},
title = {Bridging the gap between optimal trajectory planning and safety-critical control with applications to autonomous vehicles},
url = {https://www.sciencedirect.com/science/article/pii/S0005109821001126},
volume = {129},
year = {2021},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S0005109821001126},
bdsk-url-2 = {https://doi.org/10.1016/j.automatica.2021.109592}}

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