Control Barrier Function for Linearizable Systems with High Relative Degrees from Signal Temporal Logics: A Reference Governor Approach
Ground Robotics
Energy-Constrained Active Exploration Under Incremental-Resolution Symbolic Perception
Scalable and Robust Algorithms for Task-Based Coordination From High-Level Specifications (ScRATCHeS)
ScRATCHS: Scalable and Robust Algorithms for Task-Based Coordination from High-Level Specifications
Austin M Jones, Kevin Leahy, Cristian Ioan Vasile, Sadra Sadradinni, Zachary Serlin, Roberto Tron, and Calin Belta. Scalable and Robust Deployment of Heterogenenous Teams from Temporal Logic Specifications. In International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019.
Minimum-violation scLTL motion planning for mobility-on-demand
Cristian Ioan Vasile, Jana Tumova, Sertac Karaman, Calin Belta, and Daniela Rus. Minimum violation scLTL motion planning for mobility-on-demand. In 2nd Symposium on the COntrol of NEtwork Systems (SCONES), page Poster, Boston, MA, USA, October 2017.
Dynamic Risk Density for Autonomous Navigation in Cluttered Environments without Object Detection
Alyssa Pierson, Cristian Ioan Vasile, Anshula Gandhi, Wilko Schwarting, Sertac Karaman, and Daniela Rus. Dynamic Risk Density for Autonomous Navigation in Cluttered Environments without Object Detection. In IEEE International Conference on Robotics and Automation (ICRA), pages 5807-5814, Montreal, Canada, May 2019. doi:10.1109/ICRA.2019.8793813.
Counterexample-Guided Safety Contracts for Autonomous Driving
Jonathan A. DeCastro, Lucas Liebenwein, Cristian Ioan Vasile, Russ Tedrake, Sertac Karaman, and Daniela Rus. Counterexample-Guided Safety Contracts for Autonomous Driving. In Workshop on the Algorithmic Foundations of Robotics (WAFR), pages 1–16, Merida, Mexico, December 2018. link.
Control in Belief Space with Temporal Logic Specifications using Vision-based Localization
Kevin Leahy, Eric Cristofalo, Cristian Ioan Vasile, Austin Jones, Eduardo Montijano, Mac Schwager, and Calin Belta. Control in Belief Space with Temporal Logic Specifications using Vision-based Localization. International Journal of Robotics Research. 38(6):702-722. doi:10.1177/0278364919846340.
Compositional and Contract-based Verification for Autonomous Driving on Road Networks
Lucas Liebenwein, Wilko Schwarting, Cristian-Ioan Vasile, Jonathan DeCastro, Javier Alonso-Mora, Sertac Karaman, and Daniela Rus. Compositional and Contract-based Verification for Autonomous Driving on Road Networks. In International Symposium on Robotics Research (ISRR), Puerto Varas, Chile, December 2017.
Minimum-violation scLTL motion planning for mobility-on-demand
Cristian-Ioan Vasile, Jana Tumova, Sertac Karaman, Calin Belta, and Daniela Rus. Minimum-violation scLTL motion planning for mobility-on-demand. In IEEE International Conference on Robotics and Automation (ICRA), pages 1481-1488, Singapore, May 2017. doi:10.1109/ICRA.2017.7989177.
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