Characterizing performance guarantees for multiagent, real-time systems operating in noisy and uncertain environments. - Damian M. Lyons; Shu D. Jiang; Ronald C. Arkin; Prem Nirmal; Stephen D. Fox; Munzir Zafar (PerMIS, 2012)

Robots using environment objects as tools the 'MacGyver' paradigm for mobile manipulation. - Mike Stilman; Munzir Zafar; Can Erdogan; Peng Hou; Saul Reynolds-Haertle; Gregory Tracy (ICRA, 2014)

Whole body control of a wheeled inverted pendulum humanoid. - Munzir Zafar; Henrik I. Christensen (Humanoids, 2016)

Semi-parametric Approaches to Learning in Model-Based Hierarchical Control of Complex Systems. - Munzir Zafar; Areeb Mehmood; Mouhyemen Khan; Shimin Zhang; Muhammad Ali Murtaza; Victor Aladele; Evangelos A. Theodorou; Seth Hutchinson 001; Byron Boots (ISER, 2018)

Online Center of Mass Estimation for a Humanoid Wheeled Inverted Pendulum Robot. - Munzir Zafar; Akash Patel; Bogdan I. Vlahov; Nathaniel Glaser; Sergio Aguillera; Seth Hutchinson 001 (CoRR, 2018)

Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids. - Munzir Zafar; Seth Hutchinson 001; Evangelos A. Theodorou (ICRA, 2019)

Whole body control of wheeled inverted pendulum humanoids. - Munzir Zafar (2019)

Barrier Functions in Cascaded Controller: Safe Quadrotor Control. - Mouhyemen Khan; Munzir Zafar; Abhijit Chatterjee (ACC, 2020)

Extending Riemmanian Motion Policies to a Class of Underactuated Wheeled-Inverted-Pendulum Robots. - Bruce Wingo; Ching-An Cheng; Muhammad Ali Murtaza; Munzir Zafar; Seth Hutchinson 001 (ICRA, 2020)