PUBLICATIONS

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2011

Marius Kloetzer, Xu Chu Ding, Calin Belta, Multi-robot deployment from LTL specifications with reduced communication, CDC 2011, Orlando, FL, 2011 (pdf)

@INPROCEEDINGS{6160478,
author={Kloetzer, Marius and Ding, Xu Chu and Belta, Calin},
booktitle={2011 50th IEEE Conference on Decision and Control and European Control Conference},
title={Multi-robot deployment from LTL specifications with reduced communication},
year={2011},
volume={},
number={},
pages={4867-4872},
doi={10.1109/CDC.2011.6160478}}

Reza Moazzez Estanjini, Xu Chu Ding, Morteza Lahijanian, Calin Belta, Ioannis Paschalidis, Least Squares Temporal Difference Actor-Critic Methods with Applications to Robot Motion Control, CDC 2011, Orlando, FL, 2011 (pdf)

@INPROCEEDINGS{6160485,
author={Moazzez Estanjini, Reza and Ding, Xu Chu and Lahijanian, Morteza and Wang, Jing and Belta, Calin A. and Paschalidis, Ioannis Ch.},
booktitle={2011 50th IEEE Conference on Decision and Control and European Control Conference},
title={Least squares temporal difference actor-critic methods with applications to robot motion control},
year={2011},
volume={},
number={},
pages={704-709},
doi={10.1109/CDC.2011.6160485}}

Nicholas Cooper, Calin Belta, Agung Julius, Genetic Regulatory Network Identification Using Multivariate Monotone Functions, CDC 2011, Orlando, FL, 2011 (pdf)

@INPROCEEDINGS{6161460,
author={Cooper, Nicholas and Belta, Calin and Julius, A. Agung},
booktitle={2011 50th IEEE Conference on Decision and Control and European Control Conference},
title={Genetic regulatory network identification using multivariate monotone functions},
year={2011},
volume={},
number={},
pages={2208-2213},
doi={10.1109/CDC.2011.6161460}}

Xu Chu Ding, Stephen L. Smith, Calin Belta, Daniela Rus, MDP Optimal Control under Temporal Logic Constraints, CDC 2011, Orlando, FL, 2011 (pdf)

@INPROCEEDINGS{6161122,
author={Ding, Xu Chu and Smith, Stephen L. and Belta, Calin and Rus, Daniela},
booktitle={2011 50th IEEE Conference on Decision and Control and European Control Conference},
title={MDP optimal control under temporal logic constraints},
year={2011},
volume={},
number={},
pages={532-538},
doi={10.1109/CDC.2011.6161122}}

Boyan Yordanov, Calin Belta, A Formal Verification Approach to the Design of Synthetic Gene Networks, CDC 2011, Orlando, FL, 2011 (pdf)

@INPROCEEDINGS{6160969,
author={Yordanov, Boyan and Belta, Calin},
booktitle={2011 50th IEEE Conference on Decision and Control and European Control Conference},
title={A formal verification approach to the design of synthetic gene networks},
year={2011},
volume={},
number={},
pages={4873-4878},
doi={10.1109/CDC.2011.6160969}}

Guilhem Richard, H.J. Chang, Igor Cizelj, Calin Belta, Agung Julius, Salomon Amar, Integration of large-scale metabolic, signaling, and gene regulatory networks with application to infection responses, CDC 2011, Orlando, FL, 2011 (pdf)

@INPROCEEDINGS{6160954,
author={Richard, Guilhem and Chang, Hyeygjeon and Cizelj, Igor and Belta, Calin and Julius, A. Agung and Amar, Salomon},
booktitle={2011 50th IEEE Conference on Decision and Control and European Control Conference},
title={Integration of large-scale metabolic, signaling, and gene regulatory networks with application to infection responses},
year={2011},
volume={},
number={},
pages={2227-2232},
doi={10.1109/CDC.2011.6160954}}

Yushan Chen, Xu Chu Ding, Calin Belta, Synthesis of Distributed Control and Communication Schemes from Global LTL Specifications, CDC 2011, Orlando, FL, 2011 (pdf)

@INPROCEEDINGS{6160740,
author={Chen, Yushan and Ding, Xu Chu and Belta, Calin},
booktitle={2011 50th IEEE Conference on Decision and Control and European Control Conference},
title={Synthesis of distributed control and communication schemes from global LTL specifications},
year={2011},
volume={},
number={},
pages={2718-2723},
doi={10.1109/CDC.2011.6160740}}

Stephen Smith, Jana Tumova, Calin Belta, Daniela Rus, Optimal Path Planning for Surveillance with Temporal Logic Constraints, International Journal of Robotics Research, vol. 30, no. 14, pp. 1695-1708, 2011 (pdf)

@article{doi:10.1177/0278364911417911,
abstract = { In this paper we present a method for automatically generating optimal robot paths satisfying high-level mission specifications. The motion of the robot in the environment is modeled as a weighted transition system. The mission is specified by an arbitrary linear temporal-logic (LTL) formula over propositions satisfied at the regions of a partitioned environment. The mission specification contains an optimizing proposition, which must be repeatedly satisfied. The cost function that we seek to minimize is the maximum time between satisfying instances of the optimizing proposition. For every environment model, and for every formula, our method computes a robot path that minimizes the cost function. The problem is motivated by applications in robotic monitoring and data-gathering. In this setting, the optimizing proposition is satisfied at all locations where data can be uploaded, and the LTL formula specifies a complex data-collection mission. Our method utilizes B{\”u}chi automata to produce an automaton (which can be thought of as a graph) whose runs satisfy the temporal-logic specification. We then present a graph algorithm that computes a run corresponding to the optimal robot path. We present an implementation for a robot performing data collection in a road-network platform. },
author = {Stephen L Smith and Jana T{\r u}mov{\’a} and Calin Belta and Daniela Rus},
doi = {10.1177/0278364911417911},
eprint = {https://doi.org/10.1177/0278364911417911},
journal = {The International Journal of Robotics Research},
number = {14},
pages = {1695-1708},
title = {Optimal path planning for surveillance with temporal-logic constraints},
url = {https://doi.org/10.1177/0278364911417911},
volume = {30},
year = {2011},
bdsk-url-1 = {https://doi.org/10.1177/0278364911417911}}

Alphan Ulusoy, Stephen L. Smith, Xu Chu Ding, Calin Belta, Daniela Rus, Optimal Multi-Robot Path Planning with Temporal Logic Constraints, IROS, San Francisco, 2011 (pdf)

@INPROCEEDINGS{6094884,
author={Ulusoy, Alphan and Smith, Stephen L. and Ding, Xu Chu and Belta, Calin and Rus, Daniela},
booktitle={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={Optimal multi-robot path planning with temporal logic constraints},
year={2011},
volume={},
number={},
pages={3087-3092},
doi={10.1109/IROS.2011.6094884}}

Ana Ivonne Medina Ayala, Sean Andersson, and Calin Belta, Temporal Logic Control in Dynamic Environments with Probabilistic Satisfaction Guarantees, IROS, San Francisco, 2011 (pdf)

@INPROCEEDINGS{6094711,
author={Medina Ayala, A. I. and Andersson, S. B. and Belta, C.},
booktitle={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={Temporal logic control in dynamic environments with probabilistic satisfaction guarantees},
year={2011},
volume={},
number={},
pages={3108-3113},
doi={10.1109/IROS.2011.6094711}}

Xu Chu Ding, Marius Kloetzer, Yushan Chen, Calin Belta, Automatic Deployment of Robotic Teams, IEEE Robotics and Automation Magazine, vol. 18, no.3, pp. 75-86, 2011 (pdf)

@ARTICLE{6016586,
author={Ding, Xu Chu and Kloetzer, Marius and Chen, Yushan and Belta, Calin},
journal={IEEE Robotics & Automation Magazine},
title={Automatic Deployment of Robotic Teams},
year={2011},
volume={18},
number={3},
pages={75-86},
doi={10.1109/MRA.2011.942117}}

Amy LaViers, Yushan Chen, Calin Belta, Magnus Egerstedt, Automatic Sequencing of Ballet Poses, IEEE Robotics and Automation Magazine, vol. 18, no. 3, pp. 87-95, 2011 (pdf)

@ARTICLE{6016594,
author={LaViers, Amy and Chen, Yushan and Belta, Calin and Egerstedt, Magnus},
journal={IEEE Robotics & Automation Magazine},
title={Automatic Sequencing of Ballet Poses},
year={2011},
volume={18},
number={3},
pages={87-95},
doi={10.1109/MRA.2011.942118}}

Xu Chu Ding, Stephen L. Smith, Calin Belta, Daniela Rus, LTL Control in Uncertain Environments with Probabilistic Satisfaction Guarantees, 18th IFAC World Congress, Milan, Italy (pdf)

@article{CHUDENNISDING20113515,
abstract = {Abstract
We present a method to generate a robot control strategy that maximizes the probability to accomplish a task. The task is given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied at the regions of a partitioned environment. We assume that the probabilities with which the properties are satisfied at the regions are known, and the robot can determine the truth value of a proposition only at the current region. Motivated by several results on partitioned-based abstractions, we assume that the motion is performed on a graph. To account for noisy sensors and actuators, we assume that a control action enables several transitions with known probabilities. We show that this problem can be reduced to the problem of generating a control policy for a Markov Decision Process (MDP) such that the probability of satisfying an LTL formula over its states is maximized. We provide a complete solution for the latter problem that builds on existing results from probabilistic model checking. We include an illustrative case study.},
author = {Xu {Chu (Dennis) Ding} and Stephen L. Smith and Calin Belta and Daniela Rus},
doi = {https://doi.org/10.3182/20110828-6-IT-1002.02287},
issn = {1474-6670},
journal = {IFAC Proceedings Volumes},
keywords = {Robot Control, Markov Decision Processes, Formal Methods, Temporal Logic},
note = {18th IFAC World Congress},
number = {1},
pages = {3515-3520},
title = {LTL Control in Uncertain Environments with Probabilistic Satisfaction Guarantees*},
url = {https://www.sciencedirect.com/science/article/pii/S1474667016441558},
volume = {44},
year = {2011},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S1474667016441558},
bdsk-url-2 = {https://doi.org/10.3182/20110828-6-IT-1002.02287}}

Igor Cizelj, Xu Chu Ding, Morteza Lahijanian, Alessandro Pinto, Calin Belta , Probabilistically Safe Vehicle Control in a Hostile Environment, 18th IFAC World Congress, Milan, Italy (pdf)

@article{CIZELJ201111803,
abstract = {Abstract
In this paper we present an approach to control a vehicle in a hostile environment with static obstacles and moving adversaries. The vehicle is required to satisfy a mission objective expressed as a temporal logic specification over a set of properties satisfied at regions of a partitioned environment. We model the movements of adversaries in between regions of the environment as Poisson processes. Furthermore, we assume that the time it takes for the vehicle to traverse in between two facets of a region is exponentially distributed, and we obtain the rate of this exponential distribution from a simulator of the environment. We capture the motion of the vehicle and the vehicle updates of adversaries distributions as a Markov Decision Process. Using tools in Probabilistic Computational Tree Logic, we find a control strategy for the vehicle that maximizes the probability of accomplishing the mission objective. We demonstrate our approach with illustrative case studies.},
author = {Igor Cizelj and Xu Chu (Dennis) Ding and Morteza Lahijanian and Alessandro Pinto and Calin Belta},
doi = {https://doi.org/10.3182/20110828-6-IT-1002.03248},
issn = {1474-6670},
journal = {IFAC Proceedings Volumes},
keywords = {Autonomous vehicles, Markov Decision Processes, Probabilistic risk assessment},
note = {18th IFAC World Congress},
number = {1},
pages = {11803-11808},
title = {Probabilistically Safe Vehicle Control in a Hostile Environment},
url = {https://www.sciencedirect.com/science/article/pii/S1474667016455126},
volume = {44},
year = {2011},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S1474667016455126},
bdsk-url-2 = {https://doi.org/10.3182/20110828-6-IT-1002.03248}}

Agung Julius, Calin Belta, Genetic Regulatory Network Identification Using Monotone Functions Decomposition, 18th IFAC World Congress, Milan, Italy (pdf)

@article{AGUNGJULIUS201111785,
abstract = {Abstract
We present a method for identification of gene regulatory network topology using a time series of gene expression data. The underlying assumption in our method is that the functions that describe regulatory relations must be continuous, nonnegative and monotonic. This assumption is very general, as it is satisfied by virtually all existing regulatory models. Our method is based on refuting all regulation hypotheses that cannot meet this assumption. This procedure takes the form of a Linear Programming (LP) feasibility problem. We also present two conditions where the regulation hypotheses are irrefutable.},
author = {A. {Agung Julius} and Calin Belta},
doi = {https://doi.org/10.3182/20110828-6-IT-1002.02181},
issn = {1474-6670},
journal = {IFAC Proceedings Volumes},
note = {18th IFAC World Congress},
number = {1},
pages = {11785-11790},
title = {Genetic Regulatory Network Identification Using Monotone Functions Decomposition*},
url = {https://www.sciencedirect.com/science/article/pii/S1474667016455096},
volume = {44},
year = {2011},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S1474667016455096},
bdsk-url-2 = {https://doi.org/10.3182/20110828-6-IT-1002.02181}}

M. Lahijanian, S. B. Andersson, and C. Belta, Control of Markov Decision Processes from PCTL specifications, American Control Conference (ACC), San Francisco, CA, 2011 (pdf)

@INPROCEEDINGS{5990952,
author={Lahijanian, M. and Andersson, S. B. and Belta, C.},
booktitle={Proceedings of the 2011 American Control Conference},
title={Control of Markov decision processes from PCTL specifications},
year={2011},
volume={},
number={},
pages={311-316},
doi={10.1109/ACC.2011.5990952}}

A. LaViers, Y. Chen, C. Belta, and M. Egerstedt, Automatic Generation of Balletic Motions, ACM/IEEE 2nd International Conference on Cyber Physical Systems (ICCPS), Chicago, IL, 2011 (pdf)

@INPROCEEDINGS{5945417,
author={LaViers, Amy and Egerstedt, Magnus and Chen, Yushan and Belta, Calin},
booktitle={2011 IEEE/ACM Second International Conference on Cyber-Physical Systems},
title={Automatic Generation of Balletic Motions},
year={2011},
volume={},
number={},
pages={13-21},
doi={10.1109/ICCPS.2011.10}}
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