An integrated health and contingency management case study on an autonomous ground robot. - Liang Tang; Bin Zhang 008; Jonathan A. DeCastro; Eric Hettler (ICCA, 2011)

Guaranteeing reactive high-level behaviors for robots with complex dynamics. - Jonathan A. DeCastro; Hadas Kress-Gazit (IROS, 2013)

Robust Fault Diagnosis of Aircraft Engines: A Nonlinear Adaptive Estimation-Based Approach. - Xiaodong Zhang 009; Liang Tang; Jonathan A. DeCastro (IEEE Trans. Control. Syst. Technol., 2013)

Dynamics-Based Reactive Synthesis and Automated Revisions for High-Level Robot Control. - Jonathan A. DeCastro; Rüdiger Ehlers; Matthias Rungger; Ayca Balkan; Paulo Tabuada; Hadas Kress-Gazit (CoRR, 2014)

Dynamics-driven adaptive abstraction for reactive high-level mission and motion planning. - Jonathan A. DeCastro; Vasumathi Raman; Hadas Kress-Gazit (ICRA, 2015)

Collision-Free Reactive Mission and Motion Planning for Multi-robot Systems. - Jonathan A. DeCastro; Javier Alonso-Mora; Vasumathi Raman; Daniela Rus; Hadas Kress-Gazit (ISRR (1), 2015)

Synthesis of nonlinear continuous controllers for verifiably correct high-level, reactive behaviors. - Jonathan A. DeCastro; Hadas Kress-Gazit (Int. J. Robotics Res., 2015)

A Recursive Receding Horizon Planning for Unmanned Vehicles. - Bin Zhang 008; Liang Tang; Jonathan A. DeCastro; Michael J. Roemer; Kai Goebel (IEEE Trans. Ind. Electron., 2015)

Nonlinear Controller Synthesis and Automatic Workspace Partitioning for Reactive High-Level Behaviors. - Jonathan A. DeCastro; Hadas Kress-Gazit (HSCC, 2016)

Compositional and Contract-Based Verification for Autonomous Driving on Road Networks. - Lucas Liebenwein; Wilko Schwarting; Cristian Ioan Vasile; Jonathan A. DeCastro; Javier Alonso-Mora; Sertac Karaman; Daniela Rus (ISRR, 2017)

Automated generation of dynamics-based runtime certificates for high-level control. - Jonathan A. DeCastro; Rüdiger Ehlers; Matthias Rungger; Ayca Balkan; Hadas Kress-Gazit (Discret. Event Dyn. Syst., 2017)

Counterexample-Guided Safety Contracts for Autonomous Driving. - Jonathan A. DeCastro; Lucas Liebenwein; Cristian Ioan Vasile; Russ Tedrake; Sertac Karaman; Daniela Rus (WAFR, 2018)

Reactive mission and motion planning with deadlock resolution avoiding dynamic obstacles. - Javier Alonso-Mora; Jonathan A. DeCastro; Vasumathi Raman; Daniela Rus; Hadas Kress-Gazit (Auton. Robots, 2018)

Better AI through Logical Scaffolding. - Nikos Aréchiga; Jonathan A. DeCastro; Soonho Kong; Karen Leung (CoRR, 2019)

Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling. - Xin Huang 018; Stephen G. McGill; Jonathan A. DeCastro; Brian C. Williams; Luke Fletcher; John J. Leonard; Guy Rosman (CoRR, 2019)

Differentiable Logic Layer for Rule Guided Trajectory Prediction. - Xiao Li 025; Guy Rosman; Igor Gilitschenski; Jonathan A. DeCastro; Cristian Ioan Vasile; Sertac Karaman; Daniela Rus (CoRL, 2020)

Behaviorally Diverse Traffic Simulation via Reinforcement Learning. - Shinya Shiroshita; Shirou Maruyama; Daisuke Nishiyama; Mario Ynocente Castro; Karim Hamzaoui; Guy Rosman; Jonathan A. DeCastro; Kuan-Hui Lee; Adrien Gaidon (IROS, 2020)

Interpretable Policies from Formally-Specified Temporal Properties. - Jonathan A. DeCastro; Karen Leung; Nikos Aréchiga; Marco Pavone 001 (ITSC, 2020)

Discovering Avoidable Planner Failures of Autonomous Vehicles using Counterfactual Analysis in Behaviorally Diverse Simulation. - Daisuke Nishiyama; Mario Ynocente Castro; Shirou Maruyama; Shinya Shiroshita; Karim Hamzaoui; Yi Ouyang; Guy Rosman; Jonathan A. DeCastro; Kuan-Hui Lee; Adrien Gaidon (ITSC, 2020)

Implicit Multi-Agent Coordination at Unsignalized Intersections via Topological Inference. - Christoforos I. Mavrogiannis; Jonathan A. DeCastro; Siddhartha S. Srinivasa (CoRR, 2020)

DiversityGAN: Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling. - Xin Huang 018; Stephen G. McGill; Jonathan A. DeCastro; Luke Fletcher; John J. Leonard; Brian C. Williams; Guy Rosman (IEEE Robotics Autom. Lett., 2020)

Learning A Risk-Aware Trajectory Planner From Demonstrations Using Logic Monitor. - Xiao Li 025; Jonathan A. DeCastro; Cristian Ioan Vasile; Sertac Karaman; Daniela Rus (CoRL, 2021)

The Logical Options Framework. - Brandon Araki; Xiao Li 025; Kiran Vodrahalli; Jonathan A. DeCastro; Micah J. Fry; Daniela Rus (ICML, 2021)

CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy. - Xin Huang 018; Stephen G. McGill; Jonathan A. DeCastro; Luke Fletcher; John J. Leonard; Brian C. Williams; Guy Rosman (IEEE Robotics Autom. Lett., 2021)

Vehicle Trajectory Prediction Using Generative Adversarial Network With Temporal Logic Syntax Tree Features. - Xiao Li 025; Guy Rosman; Igor Gilitschenski; Cristian Ioan Vasile; Jonathan A. DeCastro; Sertac Karaman; Daniela Rus (IEEE Robotics Autom. Lett., 2021)

HMIway-env: A Framework for Simulating Behaviors and Preferences to Support Human-AI Teaming in Driving. - Deepak E. Gopinath; Jonathan A. DeCastro; Guy Rosman; Emily Sumner; Allison Morgan; Shabnam Hakimi; Simon Stent (CVPR Workshops, 2022)

Classification of Driving Behaviors Using STL Formulas: A Comparative Study. - Ruya Karagulle; Nikos Aréchiga; Jonathan A. DeCastro; Necmiye Ozay (FORMATS, 2022)

Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids. - Christoforos I. Mavrogiannis; Jonathan A. DeCastro; Siddhartha S. Srinivasa (ICRA, 2022)

Outlier-robust Inverse Reinforcement Learning and Reward-based Detection of Anomalous Driving Behaviors. - Dan Li; Mohamad Louai Shehab; Zexiang Liu; Nikos Aréchiga; Jonathan A. DeCastro; Necmiye Ozay (ITSC, 2022)

Implicit Multiagent Coordination at Uncontrolled Intersections via Topological Braids. - Christoforos I. Mavrogiannis; Jonathan A. DeCastro; Siddhartha S. Srinivasa (WAFR, 2022)

Learning Latent Traits for Simulated Cooperative Driving Tasks. - Jonathan A. DeCastro; Deepak E. Gopinath; Guy Rosman; Emily Sumner; Shabnam Hakimi; Simon Stent (CoRR, 2022)

Poster Abstract: Safety Guaranteed Preference Learning Approach for Autonomous Vehicles. - Ruya Karagulle; Nikos Aréchiga; Andrew Best; Jonathan A. DeCastro; Necmiye Ozay (HSCC, 2023)

Specification-Guided Data Aggregation for Semantically Aware Imitation Learning. - Ameesh Shah; Jonathan A. DeCastro; John Gideon; Beyazit Yalcinkaya; Guy Rosman; Sanjit A. Seshia (CoRR, 2023)

GAME-UP: Game-Aware Mode Enumeration and Understanding for Trajectory Prediction. - Justin Lidard; Oswin So; Yanxia Zhang; Jonathan A. DeCastro; Xiongyi Cui; Xin Huang 018; Yen-Ling Kuo; John J. Leonard; Avinash Balachandran; Naomi Ehrich Leonard; Guy Rosman (CoRR, 2023)

A Preference Learning Approach to Develop Safe and Personalizable Autonomous Vehicles. - Ruya Karagulle; Nikos Aréchiga; Andrew Best; Jonathan A. DeCastro; Necmiye Ozay (CoRR, 2023)

Dreaming to Assist: Learning to Align with Human Objectives for Shared Control in High-Speed Racing. - Jonathan A. DeCastro; Andrew Silva; Deepak E. Gopinath; Emily Sumner; Thomas Matrai Balch; Laporsha Dees; Guy Rosman (CoRL, 2024)

Incorporating Logic in Online Preference Learning for Safe Personalization of Autonomous Vehicles. - Ruya Karagulle; Necmiye Ozay; Nikos Aréchiga; Jonathan A. DeCastro; Andrew Best (HSCC, 2024)

Blending Data-Driven Priors in Dynamic Games. - Justin Lidard; Haimin Hu; Asher Hancock; Zixu Zhang; Albert Gimó Contreras; Vikash Modi; Jonathan A. DeCastro; Deepak Edakkattil Gopinath; Guy Rosman; Naomi Ehrich Leonard; Maria Santos 003; Jaime Fernández Fisac (Robotics: Science and Systems, 2024)

Personalizing Driver Safety Interfaces via Driver Cognitive Factors Inference. - Emily S. Sumner; Jonathan A. DeCastro; Jean Costa; Deepak E. Gopinath; Everlyne Kimani; Shabnam Hakimi; Allison Morgan; Andrew Best; Hieu Nguyen; Daniel J. Brooks; Bassam ul Haq; Andrew Patrikalakis; et al. (CoRR, 2024)

Think Deep and Fast: Learning Neural Nonlinear Opinion Dynamics from Inverse Dynamic Games for Split-Second Interactions. - Haimin Hu; Jonathan A. DeCastro; Deepak E. Gopinath; Guy Rosman; Naomi Ehrich Leonard; Jaime Fernández Fisac (CoRR, 2024)

Computational Teaching for Driving via Multi-Task Imitation Learning. - Deepak E. Gopinath; Xiongyi Cui; Jonathan A. DeCastro; Emily Sumner; Jean Costa; Hiroshi Yasuda; Allison Morgan; Laporsha Dees; Sheryl Chau; John J. Leonard; Tiffany Chen; Guy Rosman; et al. (CoRR, 2024)

Abstracting road traffic via topological braids: Applications to traffic flow analysis and distributed control. - Christoforos I. Mavrogiannis; Jonathan A. DeCastro; Siddhartha S. Srinivasa (Int. J. Robotics Res., 2024)

A Safe Preference Learning Approach for Personalization With Applications to Autonomous Vehicles. - Ruya Karagulle; Nikos Aréchiga; Andrew Best; Jonathan A. DeCastro; Necmiye Ozay (IEEE Robotics Autom. Lett., 2024)

Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports. - Donggeon David Oh; Justin Lidard; Haimin Hu; Himani Sinhmar; Elle Lazarski; Deepak Edakkattil Gopinath; Emily S. Sumner; Jonathan A. DeCastro; Guy Rosman; Naomi Ehrich Leonard; Jaime Fernández Fisac (CoRR, 2025)