Zobrazeno 1 - 10
of 229
pro vyhledávání: '"Coogan, Samuel"'
Autor:
Harapanahalli, Akash, Coogan, Samuel
We consider a nonlinear control system modeled as an ordinary differential equation subject to disturbance, with a state feedback controller parameterized as a feedforward neural network. We propose a framework for training controllers with certified
Externí odkaz:
http://arxiv.org/abs/2408.01273
This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear Temporal Lo
Externí odkaz:
http://arxiv.org/abs/2407.06931
This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task specification in the
Externí odkaz:
http://arxiv.org/abs/2404.01219
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment with uncerta
Externí odkaz:
http://arxiv.org/abs/2403.16356
Autor:
Harapanahalli, Akash, Coogan, Samuel
In this paper, we efficiently compute overapproximated reachable sets for control systems evolving on Lie groups, building off results from monotone systems theory and geometric integration theory. We propose to consider intervals living in the Lie a
Externí odkaz:
http://arxiv.org/abs/2403.16214
We present an implementation of interval analysis and mixed monotone interval reachability analysis as function transforms in Python, fully composable with the computational framework JAX. The resulting toolbox inherits several key features from JAX,
Externí odkaz:
http://arxiv.org/abs/2401.11608
We propose an interval extension of Signal Temporal Logic (STL) called Interval Signal Temporal Logic (\ISTL). Given an STL formula, we consider an interval inclusion function for each of its predicates. Then, we use minimal inclusion functions for t
Externí odkaz:
http://arxiv.org/abs/2309.10686
Autor:
Jafarpour, Saber, Coogan, Samuel
Interval Markov decision processes are a class of Markov models where the transition probabilities between the states belong to intervals. In this paper, we study the problem of efficient estimation of the optimal policies in Interval Markov Decision
Externí odkaz:
http://arxiv.org/abs/2309.09146
We present a framework based on interval analysis and monotone systems theory to certify and search for forward invariant sets in nonlinear systems with neural network controllers. The framework (i) constructs localized first-order inclusion function
Externí odkaz:
http://arxiv.org/abs/2309.09043
In this paper, we propose a computationally efficient framework for interval reachability of systems with neural network controllers. Our approach leverages inclusion functions for the open-loop system and the neural network controller to embed the c
Externí odkaz:
http://arxiv.org/abs/2307.14938