Infinite Horizon Nonlinear Quadratic Cost Regulator. - Hassan Almubarak; Nader Sadegh; David G. Taylor (ACC, 2019)

Recursive Analytic Solution of Nonlinear Optimal Regulators. - Nader Sadegh; Hassan Almubarak (CoRR, 2020)

HJB Based Optimal Safe Control using Control Barrier Functions. - Hassan Almubarak; Evangelos A. Theodorou; Nader Sadegh (CDC, 2021)

Barrier States Embedded Iterative Dynamic Game for Robust and Safe Trajectory Optimization. - Hassan Almubarak; Evangelos A. Theodorou; Nader Sadegh (ACC, 2022)

Safety in Augmented Importance Sampling: Performance Bounds for Robust MPPI. - Manan Gandhi; Hassan Almubarak; Yuichiro Aoyama; Evangelos A. Theodorou (CoRR, 2022)

Gaussian Process Barrier States for Safe Trajectory Optimization and Control. - Hassan Almubarak; Manan Gandhi; Yuichiro Aoyama; Nader Sadegh; Evangelos A. Theodorou (CoRR, 2022)

Safety Embedded Control of Nonlinear Systems via Barrier States. - Hassan Almubarak; Nader Sadegh; Evangelos A. Theodorou (IEEE Control. Syst. Lett., 2022)

Safety Embedded Differential Dynamic Programming Using Discrete Barrier States. - Hassan Almubarak; Kyle Stachowicz; Nader Sadegh; Evangelos A. Theodorou (IEEE Robotics Autom. Lett., 2022)

Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States. - Joshua E. Kuperman; Hassan Almubarak; Augustinos D. Saravanos; Evangelos A. Theodorou (ICAR, 2023)

Safe Importance Sampling in Model Predictive Path Integral Control. - Manan Gandhi; Hassan Almubarak; Evangelos A. Theodorou (CoRR, 2023)

Barrier States Theory for Safety-Critical Multi-Objective Control. - Hassan Almubarak; Nader Sadegh; Evangelos A. Theodorou (CoRR, 2023)

Differentiable Robust Model Predictive Control. - Alex Oshin; Hassan Almubarak; Evangelos A. Theodorou (Robotics: Science and Systems, 2024)

Safety Embedded Optimal Decision Making and Control Via Barrier States. - Hassan Almubarak (2024)

Safety Embedded Adaptive Control Using Barrier States. - Maitham F. AL-Sunni; Hassan Almubarak; John M. Dolan (ACC, 2025)

Nearly Optimal Nonlinear Safe Control with BaS-SDRE. - Hassan Almubarak; Maitham F. AL-Sunni; Justin T. Dubbin; Nader Sadegh; John M. Dolan; Evangelos A. Theodorou (CoRR, 2025)

LLA-MPC: Fast Adaptive Control for Autonomous Racing. - Maitham F. AL-Sunni; Hassan Almubarak; Katherine Horng; John M. Dolan (CoRR, 2025)