PUBLICATIONS

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2015

Sadra Sadraddini, Calin Belta, Robust Temporal Logic Model Predictive Control, 53rd Annual Allerton Conference on Communication, Control, and Computing, Urbana, IL, 2015 (pdf)

@INPROCEEDINGS{7447084,
author={Sadraddini, Sadra and Belta, Calin},
booktitle={2015 53rd Annual Allerton Conference on Communication, Control, and Computing (Allerton)},
title={Robust temporal logic model predictive control},
year={2015},
volume={},
number={},
pages={772-779},
doi={10.1109/ALLERTON.2015.7447084}}

Kevin Leahy, Austin Jones, Mac Schwager, Calin Belta, Distributed Information Gathering Policies under Temporal Logic Constraints, 54th IEEE Conference on Decision and Control (CDC), Osaka, Japan, 2015 (pdf)

@INPROCEEDINGS{7403291,
author={Leahy, Kevin and Jones, Austin and Schwager, Mac and Belta, Calin},
booktitle={2015 54th IEEE Conference on Decision and Control (CDC)},
title={Distributed information gathering policies under temporal logic constraints},
year={2015},
volume={},
number={},
pages={6803-6808},
doi={10.1109/CDC.2015.7403291}}

Yancy Diaz-Mercado, Austin Jones, Calin Belta, Magnus Egerstedt, Correct-by-Construction Control Synthesis for Multi-Robot Mixing, 54th IEEE Conference on Decision and Control (CDC), Osaka, Japan, 2015 (pdf)

@INPROCEEDINGS{7402112,
author={Diaz-Mercado, Yancy and Jones, Austin and Belta, Calin and Egerstedt, Magnus},
booktitle={2015 54th IEEE Conference on Decision and Control (CDC)},
title={Correct-by-construction control synthesis for multi-robot mixing},
year={2015},
volume={},
number={},
pages={221-226},
doi={10.1109/CDC.2015.7402112}}

Derya Aksaray, Kevin Leahy, Calin Belta, Distributed Multi-Agent Persistent Surveillance Under Temporal Logic Constraints, 5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, Philadelphia, USA, 2015 (pdf)

@article{AKSARAY2015174,
abstract = {We consider the problem of finding optimal agent trajectories for persistent surveillance missions subject to temporal logic (TL) constraints. Specifically, we aim to minimize the time between two consecutive visits to regions of interest in a partitioned environment while satisfying each agent’s TL specification. We formulate a distributed optimization problem, where each agent plans its trajectory based only on local information. We use a formal methods approach to show that any trajectory resulting from the proposed controller satisfies the corresponding TL constraints. The results are illustrated through simulations by comparing the proposed strategy with a joint planner and a planner without communication.},
author = {Derya Aksaray and Kevin Leahy and Calin Belta},
doi = {https://doi.org/10.1016/j.ifacol.2015.10.326},
issn = {2405-8963},
journal = {IFAC-PapersOnLine},
keywords = {Distributed control, formal methods, autonomous vehicles},
note = {5th IFAC Workshop on Distributed Estimation and Control in Networked Systems NecSys 2015},
number = {22},
pages = {174-179},
title = {Distributed Multi-Agent Persistent Surveillance Under Temporal Logic Constraints∗∗This work was partially supported at Boston University by the NSF under grants CMMI-1400167 and NRI-1426907, and by the ONR under grant MURI N00014-09-1051.},
url = {https://www.sciencedirect.com/science/article/pii/S240589631502217X},
volume = {48},
year = {2015},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S240589631502217X},
bdsk-url-2 = {https://doi.org/10.1016/j.ifacol.2015.10.326}}

Zhe Xu, Calin Belta, Agung Julius, Temporal Logic Inference with Prior Information: An Application to Robot Arm Movements, 5th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), vol.48, no.27, Atanta, GA, 2015 (pdf)

@article{XU2015141,
abstract = {Temporal logics are widely used to express (desired) system properties in controller synthesis and verification. In linear temporal logics, the semantics of the formulae are defined on the execution trajectories of the system. Recently, there have been a lot of interest in using dense-time linear temporal logic, such as Signal Temporal Logic (STL) in characterizing system trajectories. In this paper, we present a new method to derive an STL formula that characterizes the motion of a robot arm. Our work generalizes earlier work in this area by (i) allowing the use of polyhedral predicates, and (ii) incorporating a priori knowledge about the predicates. The formula is defined by a set of parameters, whose values are determined by minimizing a cost function that balances the trade-off between the formula’s match with the trajectories and the the similarity between its predicate and an a priori known predicate. We apply our algorithm on experimental trajectories generated using a PHANToM Omni robot.},
author = {Zhe Xu and Calin Belta and Agung Julius},
doi = {https://doi.org/10.1016/j.ifacol.2015.11.166},
issn = {2405-8963},
journal = {IFAC-PapersOnLine},
keywords = {Signal Temporal Logic, Learning, Optimization},
note = {Analysis and Design of Hybrid Systems ADHS},
number = {27},
pages = {141-146},
title = {Temporal Logic Inference with Prior Information: An Application to Robot Arm Movements**Corresponding Author: Zhe Xu. We acknowledge the support of the National Science Foundation through grants number CNS0953976, CNS-1218109, and NRI-1426907, and the O_ce of Naval Research through grant number N00014-14-1-0554 for the research reported in this paper.},
url = {https://www.sciencedirect.com/science/article/pii/S2405896315024246},
volume = {48},
year = {2015},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S2405896315024246},
bdsk-url-2 = {https://doi.org/10.1016/j.ifacol.2015.11.166}}

Zhe Xu, Marc Birtwistle, Calin Belta and Agung Julius, Temporal Logic Inference for Model Discrimination: An Application on the ERK Pathway, Foundations of Systems Biology in Engineering (FOSBE), Boston, MA 2015

content coming soon

Jing Wang, Xuchu Ding, Morteza Lahijanian, Ioannis Ch. Paschalidis, and Calin A. Belta, Temporal logic motion control using actor–critic methods, The International Journal of Robotics Research, Vol. 34(10) 1329–1344, 2015 (pdf)

@article{doi:10.1177/0278364915581505,
abstract = { This paper considers the problem of deploying a robot from a specification given as a temporal logic statement about some properties satisfied by the regions of a large, partitioned environment. We assume that the robot has noisy sensors and actuators and model its motion through the regions of the environment as a Markov decision process (MDP). The robot control problem becomes finding the control policy which maximizes the probability of satisfying the temporal logic task on the MDP. For a large environment, obtaining transition probabilities for each state–action pair, as well as solving the necessary optimization problem for the optimal policy, are computationally intensive. To address these issues, we propose an approximate dynamic programming framework based on a least-squares temporal difference learning method of the actor–critic type. This framework operates on sample paths of the robot and optimizes a randomized control policy with respect to a small set of parameters. The transition probabilities are obtained only when needed. Simulations confirm that convergence of the parameters translates to an approximately optimal policy. },
author = {Jing Wang and Xuchu Ding and Morteza Lahijanian and Ioannis Ch. Paschalidis and Calin A. Belta},
doi = {10.1177/0278364915581505},
eprint = {https://doi.org/10.1177/0278364915581505},
journal = {The International Journal of Robotics Research},
number = {10},
pages = {1329-1344},
title = {Temporal logic motion control using actor–critic methods},
url = {https://doi.org/10.1177/0278364915581505},
volume = {34},
year = {2015},
bdsk-url-1 = {https://doi.org/10.1177/0278364915581505}}

Morteza Lahijanian, Sean B. Andersson, and Calin Belta, Formal Verification and Synthesis for Discrete-Time Stochastic Systems, IEEE Transactions in Automatic Control, vol. 6, no. 8, pp. 2031 – 2045, 2015 (pdf)

@ARTICLE{7029024,
author={Lahijanian, Morteza and Andersson, Sean B. and Belta, Calin},
journal={IEEE Transactions on Automatic Control},
title={Formal Verification and Synthesis for Discrete-Time Stochastic Systems},
year={2015},
volume={60},
number={8},
pages={2031-2045},
doi={10.1109/TAC.2015.2398883}}

Ebru Aydin Gol, Mircea Lazar, and Calin Belta, Temporal Logic Model Predictive Control, Automatica, vol. 56, pp. 78-85, 2015 (pdf)

@article{AYDINGOL201578,
abstract = {This paper proposes an optimal control strategy for a discrete-time linear system constrained to satisfy a temporal logic specification over a set of linear predicates in its state variables. The cost is a quadratic function that penalizes the distance from desired state and control trajectories. The specification is a formula of syntactically co-safe Linear Temporal Logic (scLTL), which can be satisfied in finite time. To incorporate dynamic environments, it is assumed that the reference trajectories are only available over a finite horizon and a model predictive control (MPC) approach is employed. The MPC controller solves a set of convex optimization problems guided by the specification and subject to progress constraints. The constraints ensure that progress is made towards the satisfaction of the formula with guaranteed satisfaction by the closed-loop trajectory. The algorithms proposed in this paper were implemented as a software package that is available for download. Illustrative case studies are included.},
author = {Ebru {Aydin Gol} and Mircea Lazar and Calin Belta},
doi = {https://doi.org/10.1016/j.automatica.2015.03.029},
issn = {0005-1098},
journal = {Automatica},
keywords = {Model predictive control, Discrete-time systems, Formal methods, Linear temporal logic},
pages = {78-85},
title = {Temporal logic model predictive control},
url = {https://www.sciencedirect.com/science/article/pii/S0005109815001405},
volume = {56},
year = {2015},
bdsk-url-1 = {https://www.sciencedirect.com/science/article/pii/S0005109815001405},
bdsk-url-2 = {https://doi.org/10.1016/j.automatica.2015.03.029}}

Maria Svorenova, Ivana Cerna, and Calin Belta, Optimal Temporal Logic Control for Deterministic Transition Systems with Probabilistic Penalties, IEEE Transactions in Automatic Control, vol. 60, no. 6, pp. 1528-1541, 2015 (pdf)

@ARTICLE{6985564,
author={Svoreňová, Mária and Černá, Ivana and Belta, Calin},
journal={IEEE Transactions on Automatic Control},
title={Optimal Temporal Logic Control for Deterministic Transition Systems With Probabilistic Penalties},
year={2015},
volume={60},
number={6},
pages={1528-1541},
doi={10.1109/TAC.2014.2381451}}

Cristian-Ioan Vasile, Calin Belta, Mac Schwager, SE(N) Invariance in Networked Systems, European Control Conference,  Linz, Austria, 2015 (pdf)

@INPROCEEDINGS{7330544,
author={Vasile, Cristian-Ioan and Schwager, Mac and Belta, Calin},
booktitle={2015 European Control Conference (ECC)},
title={SE(N) invariance in networked systems},
year={2015},
volume={},
number={},
pages={186-191},
doi={10.1109/ECC.2015.7330544}}

Vladislav Nenchev, Calin Belta, Joerg Raisch, Optimal motion planning with temporal logic and switching constraints, European Control Conference, Linz, Austria, 2015 (pdf)

@INPROCEEDINGS{7330693,
author={Nenchev, Vladislav and Belta, Calin and Raisch, Jörg},
booktitle={2015 European Control Conference (ECC)},
title={Optimal motion planning with temporal logic and switching constraints},
year={2015},
volume={},
number={},
pages={1141-1146},
doi={10.1109/ECC.2015.7330693}}

Austin Jones, Mac Schwager, Calin Belta, Information-guided persistent monitoring under temporal logic constraints, American Control Conference (ACC) 2015 (pdf)

@INPROCEEDINGS{7171012,
author={Jones, Austin and Schwager, Mac and Belta, Calin},
booktitle={2015 American Control Conference (ACC)},
title={Information-guided persistent monitoring under temporal logic constraints},
year={2015},
volume={},
number={},
pages={1911-1916},
doi={10.1109/ACC.2015.7171012}}

Samuel Coogan, Ebru Aydin Gol, Murat Arcak, Calin Belta, Controlling a Network of Signalized Intersections From Temporal Logical Specifications, American Control Conference (ACC) 2015 (pdf)

@INPROCEEDINGS{7171941,
author={Coogan, Samuel and Gol, Ebru Aydin and Arcak, Murat and Belta, Calin},
booktitle={2015 American Control Conference (ACC)},
title={Controlling a network of signalized intersections from temporal logical specifications},
year={2015},
volume={},
number={},
pages={3919-3924},
doi={10.1109/ACC.2015.7171941}}

Iman Haghighi, Austin Jones, Zhaodan Kong, Ezio Bartocci, Radu Grosu and Calin Belta, SpaTeL: A Novel Spatial-Temporal Logic and Its Applications to Networked Systems, Hybrid Systems: Computation and Control (HSCC) 2015 (pdf)

@inproceedings{haghighi2015spatel,
  title={SpaTeL: a novel spatial-temporal logic and its applications to networked systems},
  author={Haghighi, Iman and Jones, Austin and Kong, Zhaodan and Bartocci, Ezio and Gros, Radu and Belta, Calin},
  booktitle={Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control},
  pages={189--198},
  year={2015}
}

Mária Svoreňová, Jan Křetínský, Martin Chmelík, Krishnendu, Chatterjee, Ivana Cerna and Calin Belta, Temporal Logic Control for Stochastic Linear Systems using Abstraction Refinement of Probabilistic Games, Hybrid Systems: Computation and Control (HSCC) 2015 (pdf)

@inproceedings{svorevnova2015temporal,
  title={Temporal logic control for stochastic linear systems using abstraction refinement of probabilistic games},
  author={Svore{\v{n}}ov{\'a}, M{\'a}ria and K{\v{r}}et{\'\i}nsk{\`y}, Jan and Chmel{\'\i}k, Martin and Chatterjee, Krishnendu and {\v{C}}ern{\'a}, Ivana and Belta, Calin},
  booktitle={Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control},
  pages={259--268},
  year={2015}
}

Mária Svoreňová, Martin Chmelík, Kevin Leahy, Hasan Ferit Eniser,Krishnendu Chatterjee, Ivana Černá and Calin Belta, Temporal Logic Motion Planning using POMDPs with Parity Objectives, Hybrid Systems: Computation and Control (HSCC) 2015 (pdf)

@inproceedings{svorevnova2015temporal,
  title={Temporal logic motion planning using POMDPs with parity objectives: Case study paper},
  author={Svore{\v{n}}ov{\'a}, M{\'a}ria and Chmel{\'\i}k, Martin and Leahy, Kevin and Eniser, Hasan Ferit and Chatterjee, Krishnendu and {\v{C}}ern{\'a}, Ivana and Belta, Calin},
  booktitle={Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control},
  pages={233--238},
  year={2015}
}
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