PUBLICATIONS

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2023

Logan Beaver, Zameer Hussain Shah, Max Sokolich, Alp Eren Yilmaz, Yanda Yang, Calin Belta and Sambeeta Das, Closed-loop Control for a Heterogeneous Group of Magnetically-actuated Microrobots, Abu Dhabi, UAE, 2023

content coming soon…

Shuo Liu, Wei Xiao, Calin Belta, Auxiliary-Adaptive Control Barrier Functions for Safety Critical Systems 62nd IEEE Conference on Decision and Control (CDC), Singapore, 2023

content coming soon…

Ahmad Ahmad, Cristian Ioan Vasile, Roberto Tron, Calin Belta, Robustness Measures and Monitors for Time Window Temporal Logic, 62nd IEEE Conference on Decision and Control (CDC), Singapore, 2023

content coming soon…

Wenliang Liu, Wei Xiao, Calin Belta, Learning Robust and Correct Controllers from Signal Temporal Logic Specifications Using BarrierNet, 62nd IEEE Conference on Decision and Control (CDC), Singapore, 2023

content coming soon…

Wenliang Liu, Kevin Leahy, Zachary Serlin, and Calin Belta, CatlNet: Learning Communication and Coordination Policies from CaTL+ Specifications, Learning for Dynamics and Control Conference (L4DC), 2023, in Proceedings of Machine Learning Research, vol. 211, 2023 (pdf)

@InProceedings{pmlr-v211-liu23a,
title = {CatlNet: Learning Communication and Coordination Policies from CaTL+ Specifications},
author = {Liu, Wenliang and Leahy, Kevin and Serlin, Zachary and Belta, Calin},
booktitle = {Proceedings of The 5th Annual Learning for Dynamics and Control Conference},
pages = {705–717},
year = {2023},
editor = {Matni, Nikolai and Morari, Manfred and Pappas, George J.},
volume = {211},
series = {Proceedings of Machine Learning Research},
month = {15–16 Jun},
publisher = {PMLR},
pdf = {https://proceedings.mlr.press/v211/liu23a/liu23a.pdf},
url = {https://proceedings.mlr.press/v211/liu23a.html},
abstract = {In this paper, we propose a learning-based framework to simultaneously learn the communication and distributed control policies for a heterogeneous multi-agent system (MAS) under complex mission requirements from Capability Temporal Logic plus (CaTL+) specifications. Both policies are trained, implemented, and deployed using a novel neural network model called CatlNet. Taking advantage of the robustness measure of CaTL+, we train CatlNet centrally to maximize it where network parameters are shared among all agents, allowing CatlNet to scale to large teams easily. CatlNet can then be deployed distributedly. A plan repair algorithm is also introduced to guide CatlNet’s training and improve both training efficiency and the overall performance of CatlNet. The CatlNet approach is tested in simulation and results show that, after training, CatlNet can steer the decentralized MAS system online to satisfy a CaTL+ specification with a high success rate. }
}

Erfan Aasi, Minyu Cai, Cristian Vasile, and Calin Belta, Time-Incremental Learning of Temporal Logic Classifiers Using Decision Trees, Learning for Dynamics and Control Conference (L4DC), 2023, in Proceedings of Machine Learning Research, vol. 211, 2023 (pdf)

@InProceedings{pmlr-v211-aasi23a,
title = {Time-Incremental Learning of Temporal Logic Classifiers Using Decision Trees},
author = {Aasi, Erfan and Cai, Mingyu and Vasile, Cristian Ioan and Belta, Calin},
booktitle = {Proceedings of The 5th Annual Learning for Dynamics and Control Conference},
pages = {547–559},
year = {2023},
editor = {Matni, Nikolai and Morari, Manfred and Pappas, George J.},
volume = {211},
series = {Proceedings of Machine Learning Research},
month = {15–16 Jun},
publisher = {PMLR},
pdf = {https://proceedings.mlr.press/v211/aasi23a/aasi23a.pdf},
url = {https://proceedings.mlr.press/v211/aasi23a.html},
abstract = {Real-time and human-interpretable decision-making in autonomous systems is a significant but challenging task, which usually requires predictions of possible future events from limited data. While machine learning techniques have achieved promising results in this field, they lack interpretability and the ability to make online predictions for sequential behaviors. In this paper, we introduce a time-incremental learning framework to predict the labels of time-series signals that are received incrementally over time, referred to as prefix signals. These signals are being observed as they are generated, and their time lengths are shorter than their corresponding time horizons. We present a novel decision tree-based approach to learn a finite number of Signal Temporal Logic (STL) specifications from a given dataset and construct a predictor based on them. Each STL specification serves as a binary classifier of the time-series data and captures a specific part of the dataset’s temporal properties over time. The predictor is built by assigning time-variant weights to the STL formulas, which represent their classification impacts. The weights are learned using neural networks to minimize the misclassification rate of classifying prefix signals with different time lengths. The predictor is then used to predict the labels of prefix signals by computing the weighted sum of their robustnesses with respect to the STL formulas. The effectiveness and classification performance of our algorithm is evaluated on urban-driving and naval-surveillance case studies.}
}

Wei Xiao, Christos G. Cassandras, Calin Belta, Learning Feasibility Constraints for Control Barrier Functions, European Control Conference (ECC), 2023 (pdf)

content coming soon…

Mehdi Kermanshah, Nguyen Nguyen, Calin Belta, Roberto Tron, Robust Filtering based on Complex Cell Networks from the Visual Cortex, American Control Conference (ACC), 2023 (pdf)

@INPROCEEDINGS{10155933,
author={Kermanshah, Mehdi and Nguyen, Nguyen and Belta, Calin and Tron, Roberto},
booktitle={2023 American Control Conference (ACC)},
title={Robust Filtering based on Complex Cell Networks from the Visual Cortex},
year={2023},
volume={},
number={},
pages={2887-2894},
doi={10.23919/ACC55779.2023.10155933}}

Shuo Liu, Jun Zeng, Koushil Sreenath, Calin Belta, Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions, American Control Conference (ACC), 2023 (pdf)

@INPROCEEDINGS{10156532,
author={Liu, Shuo and Zeng, Jun and Sreenath, Koushil and Belta, Calin A.},
booktitle={2023 American Control Conference (ACC)},
title={Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions},
year={2023},
volume={},
number={},
pages={3368-3375},
doi={10.23919/ACC55779.2023.10156532}}

Max Cohen, Calin Belta, Modular Adaptive Safety-Critical Control, American Control Conference (ACC), 2023 (pdf)

@INPROCEEDINGS{10156396,
author={Cohen, Max H. and Belta, Calin},
booktitle={2023 American Control Conference (ACC)},
title={Modular Adaptive Safety-Critical Control},
year={2023},
volume={},
number={},
pages={2969-2974},
doi={10.23919/ACC55779.2023.10156396}}

Wenliang Liu, Kevin Leahy, Zachary Serlin, Calin Belta, Robust Multi-Agent Coordination from CaTL+ Specifications, American Control Conference (ACC), 2023 (pdf)

@INPROCEEDINGS{10156237,
author={Liu, Wenliang and Leahy, Kevin and Serlin, Zachary and Belta, Calin},
booktitle={2023 American Control Conference (ACC)},
title={Robust Multi-Agent Coordination from CaTL+ Specifications},
year={2023},
volume={},
number={},
pages={3529-3534},
doi={10.23919/ACC55779.2023.10156237}}

Wenliang Liu, Mirai Duintjer Tebbens Nishioka, Calin Belta, Safe Model-based Control from Signal Temporal Logic Specifications Using Recurrent Neural Networks, IEEE International Conference  on Robotics and Automation (ICRA), 2023 (pdf)

@INPROCEEDINGS{10161201,
author={Liu, Wenliang and Nishioka, Mirai and Belta, Calin},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
title={Safe Model-based Control from Signal Temporal Logic Specifications Using Recurrent Neural Networks},
year={2023},
volume={},
number={},
pages={12416-12422},
doi={10.1109/ICRA48891.2023.10161201}}

Noushin Mehdipour, Matthias Althoff, Radboud Duintjer Tebbens, Calin Belta, Formal Methods to Comply with Rules of the Road in Autonomous Driving: State of the Art and Grand Challenges, Automatica, vol. 152, 2023 (pdf)

@article{MEHDIPOUR2023110692,
author = {Noushin Mehdipour and Matthias Althoff and Radboud Duintjer Tebbens and Calin Belta},
doi = {https://doi.org/10.1016/j.automatica.2022.110692},
issn = {0005-1098},
journal = {Automatica},
keywords = {Autonomous driving, Formal methods, Temporal logic, Formal verification, Formal synthesis, Falsification, Monitoring, Machine learning},
pages = {110692},
title = {Formal methods to comply with rules of the road in autonomous driving: State of the art and grand challenges},
url = {https://www.sciencedirect.com/science/article/pii/S0005109822005568},
volume = {152},
year = {2023},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S0005109822005568},
bdsk-url-2 = {https://doi.org/10.1016/j.automatica.2022.110692}}

Cai Mingyu, Erfan Aasi, Calin Belta, Cristian Ioan Vasile, Overcoming Exploration: Deep Reinforcement Learning for Continuous Control in Cluttered Environments from Temporal Logic Specifications, IEEE Robotics and Automation Letters, vol. 8, no. 4, pp. 2158-2165, 2023 (also communicated at the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI) (pdf)

@ARTICLE{10049066,
author={Cai, Mingyu and Aasi, Erfan and Belta, Calin and Vasile, Cristian-Ioan},
journal={IEEE Robotics and Automation Letters},
title={Overcoming Exploration: Deep Reinforcement Learning for Continuous Control in Cluttered Environments From Temporal Logic Specifications},
year={2023},
volume={8},
number={4},
pages={2158-2165},
doi={10.1109/LRA.2023.3246844}}

Max Cohen, Calin Belta, Safe Exploration in Model-based Reinforcement Learning using Control Barrier Functions, Automatica, vol. 147, 2023 (pdf)

@article{COHEN2023110684,
author = {Max H. Cohen and Calin Belta},
doi = {https://doi.org/10.1016/j.automatica.2022.110684},
issn = {0005-1098},
journal = {Automatica},
keywords = {Adaptive control, Control barrier functions, Reinforcement learning},
pages = {110684},
title = {Safe exploration in model-based reinforcement learning using control barrier functions},
url = {https://www.sciencedirect.com/science/article/pii/S0005109822005489},
volume = {147},
year = {2023},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S0005109822005489},
bdsk-url-2 = {https://doi.org/10.1016/j.automatica.2022.110684}}

Max H. Cohen, Zachary Serlin, Kevin Leahy, Calin Belta, Temporal Logic Guided Safe Model-based Reinforcement Learning: A Hybrid Systems Approach, Nonlinear Analysis Hybrid Systems (NAHS), vol. 47, 2023 (pdf)

@article{COHEN2023101295,
author = {Max H. Cohen and Zachary Serlin and Kevin Leahy and Calin Belta},
doi = {https://doi.org/10.1016/j.nahs.2022.101295},
issn = {1751-570X},
journal = {Nonlinear Analysis: Hybrid Systems},
keywords = {Lyapunov methods, Reinforcement learning, Adaptive control, Approximate dynamic programming, Temporal logics},
pages = {101295},
title = {Temporal logic guided safe model-based reinforcement learning: A hybrid systems approach},
url = {https://www.sciencedirect.com/science/article/pii/S1751570X22000905},
volume = {47},
year = {2023},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S1751570X22000905},
bdsk-url-2 = {https://doi.org/10.1016/j.nahs.2022.101295}}

Wei Xiao, Calin Belta, Christos G. Cassandras, Event-Triggered Control for Safety-Critical Systems with Unknown Dynamics, IEEE Transactions on Automatic Control, vol. 68, issue 7, pp. 4143-4158, doi: 10.1109/TAC.2022.3202088, 2023 (pdf)

@ARTICLE{9868125,
author={Xiao, Wei and Belta, Calin and Cassandras, Christos G.},
journal={IEEE Transactions on Automatic Control},
title={Event-Triggered Control for Safety-Critical Systems With Unknown Dynamics},
year={2023},
volume={68},
number={7},
pages={4143-4158},
doi={10.1109/TAC.2022.3202088}}

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