Search Results for author: Hai Lin

Found 22 papers, 1 papers with code

A Generalized Distributed Analysis and Control Synthesis Approach for Networked Systems with Arbitrary Interconnections

no code implementations20 Apr 2022 Shirantha Welikala, Hai Lin, Panos Antsaklis

We consider the problem of distributed analysis and control synthesis to verify and ensure properties like stability and dissipativity of a large-scale networked system comprised of linear subsystems interconnected in an arbitrary topology.

Mixed-Integer Programming for Signal Temporal Logic with Fewer Binary Variables

1 code implementation13 Apr 2022 Vince Kurtz, Hai Lin

Signal Temporal Logic (STL) provides a convenient way of encoding complex control objectives for robotic and cyber-physical systems.

On-line Estimation of Stability and Passivity Metrics

no code implementations31 Mar 2022 Shirantha Welikala, Hai Lin, Panos J. Antsaklis

We consider the problem of on-line evaluation of critical characteristic parameters such as the L_2-gain (L2G), input feedforward passivity index (IFP) and output feedback passivity index (OFP) of non-linear systems using their input-output data.

Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances

no code implementations4 Mar 2022 Zihao Song, Vince Kurtz, Shirantha Welikala, Panos J. Antsaklis, Hai Lin

First, a lower-dimensional linear system (abstraction) and an associated interface are designed to enable the output of the PWA system (concrete system) to track the output of the abstraction.

A More Scalable Mixed-Integer Encoding for Metric Temporal Logic

no code implementations2 Dec 2021 Vince Kurtz, Hai Lin

The state-of-the-art in optimal control from timed temporal logic specifications, including Metric Temporal Logic (MTL) and Signal Temporal Logic (STL), is based on Mixed-Integer Convex Programming (MICP).

idSTLPy: A Python Toolbox for Active Perception and Control

no code implementations4 Nov 2021 Rafael Rodrigues da Silva, Kunal Yadav, Hai Lin

This paper describes a Python toolbox for active perception and control synthesis of probabilistic signal temporal logic (PrSTL) formulas of switched linear systems with additive Gaussian disturbances and measurement noises.

Motion Planning

Active Perception and Control from PrSTL Specifications

no code implementations3 Nov 2021 Rafael Rodrigues da Silva, Vince Kurtz, Hai Lin

This work combines symbolic control with active perception to achieve complex tasks in a partially observed and noisy control system with hybrid dynamics.

The Stackelberg Equilibrium for One-sided Zero-sum Partially Observable Stochastic Games

no code implementations17 Sep 2021 Wei Zheng, Taeho Jung, Hai Lin

We propose a space partition approach to solve the game iteratively and show that the value function of the leader is piece-wise linear and the value function of the follower is piece-wise constant for multiple stages.

Action Detection

Backstepping Mean-Field Density Control for Large-Scale Heterogeneous Nonlinear Stochastic Systems

no code implementations1 Sep 2021 Tongjia Zheng, Qing Han, Hai Lin

In this work, we present a backstepping design algorithm that extends density control to heterogeneous and higher-order stochastic systems in strict-feedback forms.

SPAN: Subgraph Prediction Attention Network for Dynamic Graphs

no code implementations17 Aug 2021 Yuan Li, Chuanchang Chen, Yubo Tao, Hai Lin

This paper proposes a novel model for predicting subgraphs in dynamic graphs, an extension of traditional link prediction.

Link Prediction

Distributed Mean-Field Density Estimation for Large-Scale Systems

no code implementations9 Jun 2021 Tongjia Zheng, Qing Han, Hai Lin

This work studies how to estimate the mean-field density of large-scale systems in a distributed manner.

Density Estimation

Field Estimation using Robotic Swarms through Bayesian Regression and Mean-Field Feedback

no code implementations2 Jun 2021 Tongjia Zheng, Hai Lin

Recent years have seen an increased interest in using mean-field density based modelling and control strategy for deploying robotic swarms.

Density Estimation

Feedback Interconnected Mean-Field Density Estimation and Control

no code implementations2 Jun 2021 Tongjia Zheng, Qing Han, Hai Lin

Specifically, we propose new density control laws which use the mean-field density and its gradient as feedback, and prove that they are globally input-to-state stable (ISS) with respect to estimation errors.

Density Estimation

Distributed Density Filtering for Large-Scale Systems Using Mean-Filed Models

no code implementations10 Sep 2020 Tongjia Zheng, Hai Lin

In this work, we further study how to decentralize the density filter such that each agent can estimate the global density only based on its local observation and communication with neighbors.

Density Estimation

Specification mining and automated task planning for autonomous robots based on a graph-based spatial temporal logic

no code implementations16 Jul 2020 Zhiyu Liu, Meng Jiang, Hai Lin

For knowledge representation, we use a graph-based spatial temporal logic (GSTL) to capture spatial and temporal information of related skills demonstrated by demo videos.

Transporting Robotic Swarms via Mean-Field Feedback Control

no code implementations20 Jun 2020 Tongjia Zheng, Qing Han, Hai Lin

With the rapid development of AI and robotics, transporting a large swarm of networked robots has foreseeable applications in the near future.

Density Estimation

Kalman Filtering with Gaussian Processes Measurement Noise

no code implementations23 Sep 2019 Vince Kurtz, Hai Lin

We propose general Gaussian Processes as a non-parametric model for correlated measurement noise that is flexible enough to accurately reflect correlation in time, yet simple enough to enable efficient computation.

Gaussian Processes Simultaneous Localization and Mapping

A Co-analysis Framework for Exploring Multivariate Scientific Data

no code implementations19 Aug 2019 Xiangyang He, Yubo Tao, Qirui Wang, Hai Lin

In this paper, we propose a co-analysis framework based on biclusters, which are two subsets of variables and voxels with close scalar-value relationships, to guide the process of visually exploring multivariate data.

Multivariate Spatial Data Visualization: A Survey

no code implementations18 Aug 2019 Xiangyang He, Yubo Tao, Qirui Wang, Hai Lin

Multivariate spatial data plays an important role in computational science and engineering simulations.

Data Visualization

Dynamic Network Embeddings for Network Evolution Analysis

no code implementations24 Jun 2019 Chuanchang Chen, Yubo Tao, Hai Lin

Network embeddings learn to represent nodes as low-dimensional vectors to preserve the proximity between nodes and communities of the network for network analysis.

Link Prediction Network Embedding

A Learning Based Optimal Human Robot Collaboration with Linear Temporal Logic Constraints

no code implementations31 May 2017 Bo Wu, Bin Hu, Hai Lin

This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks.

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