Robust Estimation Framework with Semantic Measurements. - Karena X. Cai; Alexei Harvard; Richard M. Murray; Soon-Jo Chung (ACC, 2019)

Towards Assume-Guarantee Profiles for Autonomous Vehicles. - Tung Phan-Minh; Karena X. Cai; Richard M. Murray (CDC, 2019)

Rules of the Road: Towards Safety and Liveness Guarantees for Autonomous Vehicles. - Karena X. Cai; Tung Phan-Minh; Soon-Jo Chung; Richard M. Murray (CoRR, 2020)

Rules of the Road: Formal Guarantees for Autonomous Vehicles With Behavioral Contract Design. - Karena X. Cai; Tung Phan-Minh; Soon-Jo Chung; Richard M. Murray (IEEE Trans. Robotics, 2023)