Nonlinear Observers with Tighter Online Error Bounds. - João Pedro Silvestre; Rahal Nanayakkara; Paulo Tabuada (CDC, 2024)

Towards a Performance-Driven Device-Edge-Cloud Relationship. - Pragya Sharma; Brian Wang; Xiaomin Ouyang; Rahal Nanayakkara; Bharathan Balaji; Paulo Tabuada; Mani B. Srivastava (HotMobile, 2025)

Safety Under State Uncertainty: Robustifying Control Barrier Functions. - Rahal Nanayakkara; Aaron D. Ames; Paulo Tabuada (CoRR, 2025)

Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions. - Ersin Das; Rahal Nanayakkara; Xiao Tan; Ryan M. Bena; Joel W. Burdick; Paulo Tabuada; Aaron D. Ames (CoRR, 2025)