Computation of safety control for uncertain piecewise continuous systems on a partial order. - Michael R. Hafner; Domitilla Del Vecchio (CDC, 2009)

Formal design of a provably safe robotic roundabout system. - Jeffrey Duperret; Michael R. Hafner; Domitilla Del Vecchio (IROS, 2010)

Computational Tools for the Safety Control of a Class of Piecewise Continuous Systems with Imperfect Information on a Partial Order. - Michael R. Hafner; Domitilla Del Vecchio (SIAM J. Control. Optim., 2011)

Cooperative Collision Avoidance at Intersections: Algorithms and Experiments. - Michael R. Hafner; Drew Cunningham; Lorenzo Caminiti; Domitilla Del Vecchio (IEEE Trans. Intell. Transp. Syst., 2013)