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Summary
My research interests lie in the following broad areas:- modeling, design and analysis of distributed, real-time, embedded systems (cyber-physical systems)
- situational reasoning and decision making in complex, dynamic and uncertain environments
- distributed cooperative control of multi-agent systems
- autonomous robotic systems
- transportation networks
During my Ph.D., I was involved in the DARPA Urban Challenge, where I led the Systems team for Team Caltech, and the MURI project on Specification, Design and Verification of Distributed Embedded Systems, where my research primarily focused on applying formal methods to the design and verification of embedded control systems. Besides developing a general methodology for integrating formal methods and control theoretic approaches, I also looked at various applications including autonomy, vehicle management and multi-target tracking.
Autonomy in Mobility-on-Demand Systems
As the use of private vehicles starts approaching its limits to effectively meet the demand for personal mobility in densely populated cities, mobility-on-demand (MoD) systems emerge as a more economical and sustainable alternative. These systems rely on the deployment of a fleet of vehicles at different stations that are distributed throughout the city. The customers simply have to walk to a station near their origin, pick up a vehicle, drive it to the station near to their destination and drop it off.The goal of this project is to assess and demonstrate the role of autonomy in mobility-on-demand systems through modeling, algorithm development and experimental demonstration. We have instrumented a golf cart and demonstrated basic autonomous driving capabilities, including reliable navigation in a GPS-denied environment and safe interaction with automotive and pedestrian traffic. Unlike most existing autonomous vehicles, our golf cartuses minimal sensing and off-the-shelf components to attain the same level of operational ability while keeping the system economically viable.
- B. Rebsamen, T. Bandyopadhyay, T. Wongpiromsarn, S. Kim, Z. J. Chong, B. Qin, M. H. Ang Jr., E. Frazzoli and D. Rus. Utilizing the Infrastructure to Assist Autonomous Vehicles in a Mobility on Demand Context. In IEEE TENCON, 2012 (to appear). [pdf]
- Z. J. Chong, B. Qin, T. Bandyopadhyay, T. Wongpiromsarn, B. Rebsamen, P. Dai, S. Kim, M. H. Ang Jr., D. Hsu, D. Rus and E. Frazzoli. Autonomy for Mobility on Demand. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012 (to appear). [pdf]
- Z. J. Chong, B. Qin, T. Bandyopadhyay, T. Wongpiromsarn, B. Rebsamen, P. Dai and E. S. Rankin. Autonomy for Mobility on Demand. In International Conference on Intelligent Autonomous Systems (IAS), 2012. [pdf]
- Z. J. Chong, B. Qin, T. Bandyopadhyay, T. Wongpiromsarn, E. S. Rankin, M. H. Ang Jr., E. Frazzoli, D. Rus, D. Hsu and K. H. Low. Autonomous Navigation in Crowded Campus Environments. In IROS Workshop on Perception and Navigation, 2011. [pdf]
- Z. J. Chong, B. Qin, T. Bandyopadhyay, T. Wongpiromsarn, E. S. Rankin, M. H. Ang Jr., E. Frazzoli, D. Rus, D. Hsu and K. H. Low. Autonomous Personal Vehicle for the First- and Last-Mile Transportation Services. In IEEE International Conference on Cybernetics and Intelligent Systems and IEEE International Conference on Robotics, Automation and Mechatronics (CIS-RAM), 2011. [pdf]
Real-time Control and Learning for Sustainable Transportation
Traffic congestion causes significant efficiency losses, wasteful energy consumption and excessive air pollution. This problem arises in many urban areas because of the continual growth in motorization and the difficulties in increasing road capacity due to space limitations and budget constraints. As a result, traffic management that aims at maximizing the efficiency and effectiveness of road networks without increasing road capacity becomes increasingly crucial.This project focuses on mechanism design for dynamic pricing and real-time control of traffic signals based on control, communication
![Space Space](/uploads/1/2/6/3/126366768/330919164.png)
Relevant Publications
- T. Wongpiromsarn, T. Uthaicharoenpong, Y. Wang, E. Frazzoli and D. Wang. Distributed Traffic Signal Control for Maximum Network Throughput. In IEEE conference on Intelligent Transportation Systems (ITSC), 2012. [pdf]
- T. Wongpiromsarn, N. Xiao, K. You, K. Sim, L. Xie, E. Frazzoli and D. Rus. Road Pricing for Spreading Peak Travel: Modeling and Design. In International Conference of Hong Kong Society for Transportation Studies, 2012 (to appear). [pdf]
YouTube Video
Specification, Design and Verification of Embedded Control Systems
The design of reliable embedded control systems inherits the difficulties involved in designing both control systems and distributed (concurrent) computing systems. Design bugs in these systems may arise from the unforeseen interactions among the computing, communication and control subsystems. Motivated by the difficulties of finding this type of design bugs, my research focuses on developing mathematical frameworks, based on formal methods, to facilitate the design and analysis of such embedded systems. This work incorporates methodology from computer science and control, including model checking, theorem proving, synthesis of digital designs, reachability analysis, Lyapunov-type methods and receding horizon control. Various applications have been considered, including autonomy, vehicle management and multi-target tracking.
Relevant Publications
- T. Wongpiromsarn, A. Ulusoy, C. Belta, E. Frazzoli and D. Rus. Incremental Temporal Logic Synthesis of Control Policies for Robots Interacting with Dynamic Agents. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012 (to appear). [pdf] [full version]
- T. Wongpiromsarn and E. Frazzoli. Control of Probabilistic Systems under Dynamic, Partially Known Environments with Temporal Logic Specifications. In IEEE Conference on Decision and Control (CDC), 2012 (to appear). [pdf] [full version]
- A. Ulusoy, T. Wongpiromsarn and C. Belta. Incremental Control Synthesis in Probabilistic Environments with Temporal Logic Constraints. In IEEE Conference on Decision and Control (CDC), 2012 (to appear). [pdf]
- T. Wongpiromsarn, S. Karaman and E. Frazzoli. Synthesis of Provably Correct Controllers for Autonomous Vehicles in Urban Environments. In IEEE conference on Intelligent Transportation Systems (ITSC), 2011. [pdf]
- T. Wongpiromsarn, U. Topcu, and R. M. Murray. Receding Horizon Temporal Logic Planning. IEEE Transactions on Automatic Control, 2012 (to appear). [pdf]
- T. Wongpiromsarn, S. Mitra, R. M. Murray, and A. Lamperski. Verification of Periodically Controlled Hybrid Systems: Application to An Autonomous Vehicle. ACM Transactions in Embedded Computing Systems (ACM TECS), Special Issue on the Verification of Cyber-Physical Software Systems (to appear). [pdf] [full version]
- H. Kress-Gazit, T. Wongpiromsarn and U. Topcu. Correct, Reactive Robot Control from Abstraction and Temporal Logic Specifications. IEEE RAM special issue on Formal Methods for Robotics and Automation, 2011. [pdf]
- N. Ozay, U. Topcu, T. Wongpiromsarn, and R. M. Murray. Distributed Synthesis of Control Protocols for Smart Camera Networks. In International Conference on Cyber-Physical Systems, 2011. [pdf]
- T. Wongpiromsarn, U. Topcu, and R. M. Murray. Formal Synthesis of Embedded Control Software for Vehicle Management Systems. In AIAA Infotech@Aerospace, 2011. Best Intelligent Systems Paper Award [pdf]
- T. Wongpiromsarn, U. Topcu, and R. M. Murray. Automatic Synthesis of Robust Embedded Control Software. In AAAI Spring Symposium on Embedded Reasoning: Intelligence in Embedded Systems, 2010. [pdf]
- T. Wongpiromsarn, U. Topcu, and R. M. Murray. Receding Horizon Control for Temporal Logic Specifications. In Hybrid Systems: Computation and Control (HSCC), 2010. [pdf]
- T. Wongpiromsarn, U. Topcu, and R. M. Murray. Receding Horizon Temporal Logic Planning for Dynamical Systems. In IEEE Conference on Decision and Control (CDC), 2009. [pdf] [full version]
- T. Wongpiromsarn, S. Mitra, R. M. Murray, and A. Lamperski. Periodically Controlled Hybrid Systems: Verifying a Controller for an Autonomous Vehicle. In Hybrid Systems: Computation and Control (HSCC), 2009. [pdf] [full version]
Check out the project page for more details.
Temporal Logic Planning (TuLiP) Toolbox
The Temporal Logic Planning (TuLiP) Toolbox is a Python-based software toolbox for the synthesis of embedded control software that is provably correct with respect to an expressive subset of linear temporal logic (LTL) specifications. TuLiP combines routines for (1) finite state abstraction of control systems, (2) digital design synthesis from LTL specifications, and (3) receding horizon planning. The underlying digital design synthesis routine treats the environment as adversary; hence, the resulting controller is guaranteed to be correct for any admissible environment profile. TuLiP applies the receding horizon framework, allowing the synthesis problem to be broken into a set of smaller problems, and consequently alleviating the computational complexity of the synthesis procedure, while preserving the correctness guarantee.
Relevant Publications
- T. Wongpiromsarn, U. Topcu, and R. M. Murray. TuLiP: A Software Toolbox for Receding Horizon Temporal Logic Planning. In Hybrid Systems: Computation and Control (HSCC), 2011. [pdf]
Check out the project page for more details.
DARPA Urban Challenge 2007
This project involves building an autonomous ground vehicle capable of maneuvering a 60 mile course in a mock urban environment in less than 6 hours. As the coordinator of the Systems team, my contribution to this project is the development of a new software architecture for distributed goal and contingency management which is the main part of the mission management subsystem. I have also implemented the decision making logic of the planning module.
Relevant Publications
- T. Wongpiromsarn and R. M. Murray. Distributed Mission and Contingency Management for the DARPA Urban Challenge. In International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008. [pdf]
- N. E. Du Toit, T. Wongpiromsarn, J. W. Burdick, and R. M. Murray. Situational Reasoning for Road Driving in an Urban Environment. In International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008. [pdf]
- J. W. Burdick, N. E. Du Toit, A. Howard, C. Looman, J. Ma, R. M. Murray, and T. Wongpiromsarn. Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge. Technical report, DARPA Urban Challenge Final Report, 2007. [pdf]
Consensus Approaches to the Assignment Problem
The assignment problem, also regarded as the bipartite Maximum Weighted Matching problem, is a fundamental problem in combinatorial optimization and provides several applications, especially in the areas of multi-agent coordination, distributed computing and distributed manufacturing. In particular, it has been shown that optimal task and resource allocation can be reduced to an instance of the assignment problem.
This work aims at designing a consensus protocol to solve the assignment problem in a completely distributed manner without any central management or global knowledge. The main application of this work is sensor dispatch, an emerging problem in wireless sensor networks where a subset of mobile sensors need to decide how to move in order to optimize certain global objectives while maintaining the coverage ability.
Relevant Publications
- T. Wongpiromsarn, K. You, and L. Xie. A Consensus Approach to the Assignment Problem: Application to Mobile Sensor Dispatch. In IEEE International Conference on Control and Automation (ICCA), 2010. [pdf]
Abstraction-Based Multi-Vehicle Command and Control
This work introduces an encapsulation approach to path planning for multi-vehicle control that permits other decision processes to work with simple, spatially-abstracted domain models, and partially or wholly ignore obstacles, observation uncertainty and vehicle dynamics. Application to multi-vehicle command and control has been considered.Relevant Publications
- V. G. Rao, T. Wongpiromsarn, T. Ho, K. Chung, and R. D'Andrea. Encapsulated Path Planning for Abstraction-Based Control of Multi-vehicle Systems. In Proc. American Control Conference, pages 2995–3000, 2006. [pdf]
- T. Wongpiromsarn, V. G. Rao, and R. D’Andrea. Two Approaches to Dynamic Refinement in Hierarchical Motion Planning. In AIAA Guidance, Navigation and Control Conference, 2005. [pdf]