Optimizing transmission and shutdown for energy-efficient packet scheduling in sensor networks. - Sofie Pollin; Bruno Bougard; Rahul Mangharam; Liesbet Van der Perre; Francky Catthoor; Ragunathan Rajkumar; Ingrid Moerman (EWSN, 2005)

Optimal fixed and scalable energy management for wireless networks. - Rahul Mangharam; Ragunathan Rajkumar; Sofie Pollin; Francky Catthoor; Bruno Bougard; Liesbet Van der Perre; Ingrid Moerman (INFOCOM, 2005)

GrooveSim: a topography-accurate simulator for geographic routing in vehicular networks. - Rahul Mangharam; Daniel S. Weller; Daniel D. Stancil; Ragunathan Rajkumar; Jayendra S. Parikh (Vehicular Ad Hoc Networks, 2005)

Optimizing Transmission and Shutdown for Energy-Efficient Real-time Packet Scheduling in Clustered Ad Hoc Networks. - Sofie Pollin; Bruno Bougard; Rahul Mangharam; Francky Catthoor; Ingrid Moerman; Ragunathan Rajkumar; Liesbet Van der Perre (EURASIP J. Wirel. Commun. Netw., 2005)

MAX: A Maximal Transmission Concurrency MAC for Wireless Networks with Regular Structure. - Rahul Mangharam; Raj Rajkumar (BROADNETS, 2006)

GrooveNet: A Hybrid Simulator for Vehicle-to-Vehicle Networks. - Rahul Mangharam; Daniel S. Weller; Raj Rajkumar; Priyantha Mudalige; Fan Bai 002 (MobiQuitous, 2006)

Voice over Sensor Networks. - Rahul Mangharam; Anthony Rowe 001; Raj Rajkumar; Ryohei Suzuki (RTSS, 2006)

RT-Link: A Time-Synchronized Link Protocol for Energy- Constrained Multi-hop Wireless Networks. - Anthony Rowe 001; Rahul Mangharam; Raj Rajkumar (SECON, 2006)

Node Connectivity in Vehicular Ad Hoc Networks with Structured Mobility. - Ivan Wang Hei Ho; Kin K. Leung; John W. Polak; Rahul Mangharam (LCN, 2007)

FireFly: a cross-layer platform for real-time embedded wireless networks. - Rahul Mangharam; Anthony Rowe 001; Raj Rajkumar (Real Time Syst., 2007)

RT-Link: A global time-synchronized link protocol for sensor networks. - Anthony Rowe 001; Rahul Mangharam; Raj Rajkumar (Ad Hoc Networks, 2008)

MEERA: Cross-Layer Methodology for Energy Efficient Resource Allocation in Wireless Networks. - Sofie Pollin; Rahul Mangharam; Bruno Bougard; Liesbet Van der Perre; Ingrid Moerman; Ragunathan Rajkumar; Francky Catthoor (IEEE Trans. Wirel. Commun., 2008)

Embedded Virtual Machines for Robust Wireless Control Systems. - Rahul Mangharam; Miroslav Pajic (ICDCS Workshops, 2009)

Demo abstract: Embedded Virtual Machines for wireless industrial automation. - Rahul Mangharam; Miroslav Pajic; Shivakumar Sastry (IPSN, 2009)

Anti-jamming for embedded wireless networks. - Miroslav Pajic; Rahul Mangharam (IPSN, 2009)

The Wireless Control Network: Synthesis and robustness. - Miroslav Pajic; Shreyas Sundaram; Jerome Le Ny; George J. Pappas; Rahul Mangharam (CDC, 2010)

The wireless control network: Monitoring for malicious behavior. - Shreyas Sundaram; Miroslav Pajic; Christoforos N. Hadjicostis; Rahul Mangharam; George J. Pappas (CDC, 2010)

Real-Time Heart Model for Implantable Cardiac Device Validation and Verification. - Zhihao Jiang; Miroslav Pajic; Allison Connolly; Sanjay Dixit; Rahul Mangharam (ECRTS, 2010)

Toward patient safety in closed-loop medical device systems. - David Arney; Miroslav Pajic; Julian M. Goldman; Insup Lee 001; Rahul Mangharam; Oleg Sokolsky (ICCPS, 2010)

A platform for implantable medical device validation. - Miroslav Pajic; Zhihao Jiang; Allison Connolly; Sanjay Dixit; Rahul Mangharam (IPSN, 2010)

Embedded Virtual Machines for Robust Wireless Control and Actuation. - Miroslav Pajic; Rahul Mangharam (IEEE Real-Time and Embedded Technology and Applications Symposium, 2010)

A platform for implantable medical device validation: demo abstract. - Zhihao Jiang; Miroslav Pajic; Allison Connolly; Sanjay Dixit; Rahul Mangharam (Wireless Health, 2010)

Spatio-Temporal Techniques for Anti-Jamming in Embedded Wireless Networks. - Miroslav Pajic; Rahul Mangharam (EURASIP J. Wirel. Commun. Netw., 2010)

Network synthesis for dynamical system stabilization. - Miroslav Pajic; Shreyas Sundaram; George J. Pappas; Rahul Mangharam (ACSCC, 2011)

Green scheduling of control systems for peak demand reduction. - Truong Nghiem; Madhur Behl; Rahul Mangharam; George J. Pappas (CDC/ECC, 2011)

Topological conditions for wireless control networks. - Miroslav Pajic; Shreyas Sundaram; George J. Pappas; Rahul Mangharam (CDC/ECC, 2011)

Modeling cardiac pacemaker malfunctions with the Virtual Heart Model. - Zhihao Jiang; Rahul Mangharam (EMBC, 2011)

Green scheduling: Scheduling of control systems for peak power reduction. - Truong Nghiem; Madhur Behl; George J. Pappas; Rahul Mangharam (IGCC, 2011)

Model-Based Closed-Loop Testing of Implantable Pacemakers. - Zhihao Jiang; Miroslav Pajic; Rahul Mangharam (ICCPS, 2011)

EnRoute: An energy router for energy-efficient buildings. - Madhur Behl; Mansimar Aneja; Harsh Jain; Rahul Mangharam (IPSN, 2011)

Demo abstract: AutoPlug - An automotive test-bed for ECU testing, validation and verification. - Utsav Drolia; Zhenyan Wang; Srinivas Vemuri; Madhur Behl; Rahul Mangharam (IPSN, 2011)

Demo abstract: Closed-loop testing for implantable cardiac pacemakers. - Zhihao Jiang; Miroslav Pajic; Rahul Mangharam (IPSN, 2011)

Demo abstract: R.A.V.E.N. - Remote autonomous vehicle explorer network. - Paul D. Martin 001; William Etter; Rahul Mangharam (IPSN, 2011)

Architecture for a fully distributed Wireless Control Network. - Miroslav Pajic; Shreyas Sundaram; Mansimar Aneja; Srinivas Vemuri; Rahul Mangharam; George J. Pappas (IPSN, 2011)

AutoPlug: An automotive test-bed for electronic controller unit testing and verification. - Utsav Drolia; Zhenyan Wang; Yash Pant; Rahul Mangharam (ITSC, 2011)

On the Feasibility of Linear Discrete-Time Systems of the Green Scheduling Problem. - Zheng Li; Pei-Chi Huang; Aloysius K. Mok; Truong Nghiem; Madhur Behl; George J. Pappas; Rahul Mangharam (RTSS, 2011)

Anytime Algorithms for GPU Architectures. - Rahul Mangharam; Aminreza Abrahimi Saba (RTSS, 2011)

The Wireless Control Network: A New Approach for Control Over Networks. - Miroslav Pajic; Shreyas Sundaram; George J. Pappas; Rahul Mangharam (IEEE Trans. Autom. Control., 2011)

Scalable scheduling of building control systems for peak demand reduction. - Truong X. Nghiem; Madhur Behl; Rahul Mangharam; George J. Pappas (ACC, 2012)

Green scheduling for radiant systems in buildings. - Truong Nghiem; Madhur Behl; George J. Pappas; Rahul Mangharam (CDC, 2012)

Demo Abstract: Model-Based Testing of Implantable Cardiac Devices. - Shilpa Sarode; Sriram Radhakrishnan; Varun Sampath; Zhihao Jiang; Miroslav Pajic; Rahul Mangharam (ICCPS, 2012)

Closing the loop: a simple distributed method for control over wireless networks. - Miroslav Pajic; Shreyas Sundaram; Jerome Le Ny; George J. Pappas; Rahul Mangharam (IPSN, 2012)

From Verification to Implementation: A Model Translation Tool and a Pacemaker Case Study. - Miroslav Pajic; Zhihao Jiang; Insup Lee 001; Oleg Sokolsky; Rahul Mangharam (IEEE Real-Time and Embedded Technology and Applications Symposium, 2012)

Green Scheduling for Energy-Efficient Operation of Multiple Chiller Plants. - Madhur Behl; Truong Nghiem; Rahul Mangharam (RTSS, 2012)

MLE+: design and deployment integration for energy-efficient building controls. - Willy Bernal; Madhur Behl; Truong Nghiem; Rahul Mangharam (BuildSys@SenSys, 2012)

Modeling and Verification of a Dual Chamber Implantable Pacemaker. - Zhihao Jiang; Miroslav Pajic; Salar Moarref; Rajeev Alur; Rahul Mangharam (TACAS, 2012)

Cyber-Physical Modeling of Implantable Cardiac Medical Devices. - Zhihao Jiang; Miroslav Pajic; Rahul Mangharam (Proc. IEEE, 2012)

Robust architectures for embedded wireless network control and actuation. - Miroslav Pajic; Alexander Chernoguzov; Rahul Mangharam (ACM Trans. Embed. Comput. Syst., 2012)

Networked realization of discrete-time controllers. - Fei Miao; Miroslav Pajic; Rahul Mangharam; George J. Pappas (ACC, 2013)

Event-based Green scheduling of radiant systems in buildings. - Truong X. Nghiem; George J. Pappas; Rahul Mangharam (ACC, 2013)

Towards synthesis of platform-aware attack-resilient control systems: extended abstract. - Miroslav Pajic; Nicola Bezzo; James Weimer; Rajeev Alur; Rahul Mangharam; Nathan Michael; George J. Pappas; Oleg Sokolsky; Paulo Tabuada; Stephanie Weirich; Insup Lee 001 (HiCoNS, 2013)

Demo abstract: EnergyLab: building energy testbed for demand-response. - Madhur Behl; Neel D. Shah; Larry Vadakedathu; Dan Wheeler; Rahul Mangharam (IPSN, 2013)

Topological Conditions for In-Network Stabilization of Dynamical Systems. - Miroslav Pajic; Rahul Mangharam; George J. Pappas; Shreyas Sundaram (IEEE J. Sel. Areas Commun., 2013)

MLE+: a tool for integrated design and deployment of energy efficient building controls. - Willy Bernal; Madhur Behl; Truong Nghiem; Rahul Mangharam (SIGBED Rev., 2013)

ProtoDrive: an experimental platform for electric vehicle energy scheduling and control. - William Price; Harsh Jain; Yash Pant; Rahul Mangharam (SIGBED Rev., 2013)

Peak power reduction in hybrid energy systems with limited load forecasts. - Yash Vardhan Pant; Truong X. Nghiem; Rahul Mangharam (ACC, 2014)

IMpACT: Inverse model accuracy and control performance toolbox for buildings. - Madhur Behl; Truong X. Nghiem; Rahul Mangharam (CASE, 2014)

Model-IQ: Uncertainty propagation from sensing to modeling and control in buildings. - Madhur Behl; Truong X. Nghiem; Rahul Mangharam (ICCPS, 2014)

Compositional, Approximate, and Quantitative Reasoning for Medical Cyber-Physical Systems with Application to Patient-Specific Cardiac Dynamics and Devices. - Radu Grosu; Elizabeth Cherry; Edmund M. Clarke; Rance Cleaveland; Sanjay Dixit; Flavio H. Fenton; Sicun Gao; James Glimm; Richard A. Gray; Rahul Mangharam; Arnab Ray; Scott A. Smolka (ISoLA (2), 2014)

Distributed control of a swarm of buildings connected to a smart grid: demo abstract. - Baris Aksanli; Alper Sinan Akyurek; Madhur Behl; Meghan Clark; Alexandre Donzé; Prabal Dutta; Patrick Lazik; Mehdi Maasoumy; Rahul Mangharam; Truong X. Nghiem; Vasumathi Raman; Anthony Rowe 001; et al. (BuildSys, 2014)

The Swarm at the Edge of the Cloud. - Edward A. Lee; Björn Hartmann; John Kubiatowicz; Tajana Simunic Rosing; John Wawrzynek; David Wessel; Jan M. Rabaey; Kris Pister; Alberto L. Sangiovanni-Vincentelli; Sanjit A. Seshia; David T. Blaauw; Prabal Dutta; et al. (IEEE Des. Test, 2014)

Closed-loop verification of medical devices with model abstraction and refinement. - Zhihao Jiang; Miroslav Pajic; Rajeev Alur; Rahul Mangharam (Int. J. Softw. Tools Technol. Transf., 2014)

Editorial: Special issue on real-time and embedded technology and applications. - Marco Di Natale; Rich West; Jian-Jia Chen; Rahul Mangharam (ACM Trans. Embed. Comput. Syst., 2014)

Safety-critical medical device development using the UPP2SF model translation tool. - Miroslav Pajic; Zhihao Jiang; Insup Lee 001; Oleg Sokolsky; Rahul Mangharam (ACM Trans. Embed. Comput. Syst., 2014)

Model-Driven Safety Analysis of Closed-Loop Medical Systems. - Miroslav Pajic; Rahul Mangharam; Oleg Sokolsky; David Arney; Julian M. Goldman; Insup Lee 001 (IEEE Trans. Ind. Informatics, 2014)

Cloud Mat: Context-Aware Personalization of Fitness Content. - Kuk Jin Jang; Jungmin Ryoo; Orkan Telhan; Rahul Mangharam (SCC, 2015)

Scalable scheduling of energy control systems. - Truong X. Nghiem; Rahul Mangharam (EMSOFT, 2015)

Hardware Optimizations for Anytime Perception and Control. - Nischal K. N.; Paritosh Kelkar; Dhruva Kumar; Yash Vardhan Pant; Houssam Abbas; Joseph Devietti; Rahul Mangharam (RTSS, 2015)

Co-design of Anytime Computation and Robust Control. - Yash Vardhan Pant; Houssam Abbas; Kartik Mohta; Truong X. Nghiem; Joseph Devietti; Rahul Mangharam (RTSS, 2015)

Poster Abstract: A Data-Driven Demand Response Recommender System. - Madhur Behl; Rahul Mangharam (BuildSys, 2015)

Sometimes, Money Does Grow On Trees: Data-Driven Demand Response with DR-Advisor. - Madhur Behl; Rahul Mangharam (BuildSys, 2015)

Model Checking Implantable Cardioverter Defibrillators. - Houssam Abbas; Kuk Jin Jang; Zhihao Jiang; Rahul Mangharam (CoRR, 2015)

Guest Editors' Introduction: Cyber-Physical Systems for Medical Applications. - Paul Bogdan; Rahul Mangharam (IEEE Des. Test, 2015)

High-Confidence Medical Device Software Development. - Zhihao Jiang; Rahul Mangharam (Found. Trends Electron. Des. Autom., 2015)

CyberCardia project: Modeling, verification and validation of implantable cardiac devices. - Md. Ariful Islam; Hyun-Kyung Lim; Nicola Paoletti; Houssam Abbas; Zhihao Jiang; Jacek Cyranka; Rance Cleaveland; Sicun Gao; Edmund M. Clarke; Radu Grosu; Rahul Mangharam; Elizabeth Cherry; et al. (BIBM, 2016)

Robust model predictive control for non-linear systems with input and state constraints via feedback linearization. - Yash Vardhan Pant; Houssam Abbas; Rahul Mangharam (CDC, 2016)

Three challenges in cyber-physical systems. - Rahul Mangharam; Houssam Abbas; Madhur Behl; Kuk Jin Jang; Miroslav Pajic; Zhihao Jiang (COMSNETS, 2016)

Nonlinear Hybrid Automata Model of Excitable Cardiac Tissue. - Houssam Abbas; Kuk Jin Jang; Rahul Mangharam (ARCH@CPSWeek, 2016)

In-silico pre-clinical trials for implantable cardioverter defibrillators. - Zhihao Jiang; Houssam Abbas; Kuk Jin Jang; Marco Beccani; Jackson Liang; Sanjay Dixit; Rahul Mangharam (EMBC, 2016)

High-level modeling for computer-aided clinical trials of medical devices. - Houssam Abbas; Zhihao Jiang; Kuk Jin Jang; Marco Beccani; Jackson Liang; Rahul Mangharam (HLDVT, 2016)

Towards Model Checking of Implantable Cardioverter Defibrillators. - Houssam Abbas; Kuk Jin Jang; Zhihao Jiang; Rahul Mangharam (HSCC, 2016)

Data-Driven Modeling, Control and Tools for Cyber-Physical Energy Systems. - Madhur Behl; Achin Jain; Rahul Mangharam (ICCPS, 2016)

Data Predictive Control for Building Energy Management: Poster Abstract. - Achin Jain; Madhur Behl; Rahul Mangharam (BuildSys, 2016)

Data Predictive Control for Peak Power Reduction. - Achin Jain; Rahul Mangharam; Madhur Behl (BuildSys, 2016)

The Challenges of High-Confidence Medical Device Software. - Zhihao Jiang; Houssam Abbas; Kuk Jin Jang; Rahul Mangharam (Computer, 2016)

Modeling Opportunities in mHealth Cyber-Physical Systems. - Wendy Nilsen; Emre Ertin; Eric B. Hekler; Santosh Kumar 001; Insup Lee 001; Rahul Mangharam; Misha Pavel; James M. Rehg; William T. Riley; Daniel E. Rivera; Donna Spruijt-Metz (Mobile Health - Sensors, Analytic Methods, and Applications, 2017)

Data Predictive Control for building energy management. - Achin Jain; Madhur Behl; Rahul Mangharam (ACC, 2017)

Smooth operator: Control using the smooth robustness of temporal logic. - Yash Vardhan Pant; Houssam Abbas; Rahul Mangharam (CCTA, 2017)

Data predictive control using regression trees and ensemble learning. - Achin Jain; Francesco Smarra; Rahul Mangharam (CDC, 2017)

An Autonomous Vehicle Control Stack. - Alëna Rodionova; Matthew O'Kelly; Houssam Abbas; Vincent Pacelli; Rahul Mangharam (ARCH@CPSWeek, 2017)

Safe At Any Speed: A Simulation-Based Test Harness for Autonomous Vehicles. - Houssam Abbas; Matthew O'Kelly; Alëna Rodionova; Rahul Mangharam (CyPhy, 2017)

Relaxed Decidability and the Robust Semantics of Metric Temporal Logic. - Houssam Abbas; Matthew O'Kelly; Rahul Mangharam (HSCC, 2017)

MOBILITY21: Strategic Investments for Transportation Infrastructure & Technology. - Rahul Mangharam; Megan Reyerson; Steve Viscelli; Hamsa Balakrishanan; Alexandre M. Bayen; Surabh Amin; Leslie Richards; Leo Bagley; George J. Pappas (CoRR, 2017)

Automated closed-loop model checking of implantable pacemakers using abstraction trees. - Zhihao Jiang; Houssam Abbas; Pieter J. Mosterman; Rahul Mangharam (SIGBED Rev., 2017)

Data-driven Switched Affine Modeling for Model Predictive Control. - Francesco Smarra; Achin Jain; Rahul Mangharam; Alessandro D'Innocenzo (ADHS, 2018)

Generalized Robust MTL Semantics for Problems in Cardiac Electrophysiology. - Houssam Abbas; Rahul Mangharam (ACC, 2018)

Quantitative Regular Expressions for Monitoring Cardiac Arrhythmias. - Houssam Abbas; Rajeev Alur; Konstantinos Mamouras; Rahul Mangharam; Alëna Rodionova (MT@CPSWeek, 2018)

Computer Aided Clinical Trials for Implantaule Cardiac Devices. - Kuk Jin Jang; James Weimer; Houssam Abbas; Zhihao Jiang; Jackson Liang; Sanjay Dixit; Rahul Mangharam (EMBC, 2018)

Learning and control using gaussian processes: towards bridging machine learning and controls for physical systems. - Achin Jain; Truong X. Nghiem; Manfred Morari; Rahul Mangharam (ICCPS, 2018)

Fly-by-logic: control of multi-drone fleets with temporal logic objectives. - Yash Vardhan Pant; Houssam Abbas; Rhudii A. Quaye; Rahul Mangharam (ICCPS, 2018)

Real-Time Decision Policies With Predictable Performance. - Houssam Abbas; Rajeev Alur; Konstantinos Mamouras; Rahul Mangharam; Alëna Rodionova (Proc. IEEE, 2018)

Data-Driven Model Predictive Control with Regression Trees - An Application to Building Energy Management. - Achin Jain; Francesco Smarra; Madhur Behl; Rahul Mangharam (ACM Trans. Cyber Phys. Syst., 2018)

Electroanatomic Mapping to determine Scar Regions in patients with Atrial Fibrillation. - Jiyue He; Kuk Jin Jang; Katie Walsh; Jackson Liang; Sanjay Dixit; Rahul Mangharam (EMBC, 2019)

Temporal logic robustness for general signal classes. - Houssam Abbas; Yash Vardhan Pant; Rahul Mangharam (HSCC, 2019)

Robustness evaluation of computer-aided clinical trials for medical devices. - Kuk Jin Jang; Yash Vardhan Pant; Bo Zhang; James Weimer; Rahul Mangharam (ICCPS, 2019)

Synthesizing stealthy reprogramming attacks on cardiac devices. - Nicola Paoletti; Zhihao Jiang; Md. Ariful Islam; Houssam Abbas; Rahul Mangharam; Shan Lin 001; Zachary Gruber; Scott A. Smolka (ICCPS, 2019)

Fly-by-Logic: A Tool for Unmanned Aircraft System Fleet Planning Using Temporal Logic. - Yash Vardhan Pant; Rhudii A. Quaye; Houssam Abbas; Akarsh Varre; Rahul Mangharam (NFM, 2019)

F1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning. - Matthew O'Kelly; Hongrui Zheng; Dhruv Karthik; Rahul Mangharam (NeurIPS (Competition and Demos), 2019)

F1/10: An Open-Source Autonomous Cyber-Physical Platform. - Matthew O'Kelly; Varundev Sukhil; Houssam Abbas; Jack Harkins; Chris Kao; Yash Vardhan Pant; Rahul Mangharam; Dipshil Agarwal; Madhur Behl; Paolo Burgio; Marko Bertogna (CoRR, 2019)

FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis. - Aman Sinha 001; Matthew O'Kelly; Hongrui Zheng; Rahul Mangharam; John C. Duchi; Russ Tedrake (ICML, 2020)

TUNERCAR: A Superoptimization Toolchain for Autonomous Racing. - Matthew O'Kelly; Hongrui Zheng; Achin Jain; Joseph Auckley; Kim Luong; Rahul Mangharam (ICRA, 2020)

Learning-to-Fly: Learning-based Collision Avoidance for Scalable Urban Air Mobility. - Alëna Rodionova; Yash Vardhan Pant; Kuk Jin Jang; Houssam Abbas; Rahul Mangharam (ITSC, 2020)

How safe is safe enough? Automatic Safety Constraints Boundary Estimation for Decision-Making in Automated Vehicles. - Alëna Rodionova; Ignacio J. Alvarez; Maria Soledad Elli; Fabian Oboril; Johannes Quast; Rahul Mangharam (IV, 2020)

Teaching Autonomous Systems at 1/10th-scale: Design of the F1/10 Racecar, Simulators and Curriculum. - Abhijeet Agnihotri; Matthew O'Kelly; Rahul Mangharam; Houssam Abbas (SIGCSE, 2020)

Patient-specific heart model towards atrial fibrillation. - Jiyue He; Arkady M. Pertsov; Sanjay Dixit; Katie Walsh; Eric Toolan; Rahul Mangharam (ICCPS, 2021)

Track based Offline Policy Learning for Overtaking Maneuvers with Autonomous Racecars. - Jayanth Bhargav; Johannes Betz; Hongrui Zheng; Rahul Mangharam (CoRR, 2021)

Learning-'N-Flying: A Learning-Based, Decentralized Mission-Aware UAS Collision Avoidance Scheme. - Alëna Rodionova; Yash Vardhan Pant; Connor Kurtz; Kuk Jin Jang; Houssam Abbas; Rahul Mangharam (ACM Trans. Cyber Phys. Syst., 2021)

Anytime Computation and Control for Autonomous Systems. - Yash Vardhan Pant; Houssam Abbas; Kartik Mohta; Rhudii A. Quaye; Truong X. Nghiem; Joseph Devietti; Rahul Mangharam (IEEE Trans. Control. Syst. Technol., 2021)

Distributed Trajectory Planning for Multi-rotor UAVs with Signal Temporal Logic Objectives. - Yash Vardhan Pant; Houssam Abbas; Rahul Mangharam (CCTA, 2022)

Deriving Spatial Policies for Overtaking Maneuvers with Autonomous Vehicles. - Jayanth Bhargav; Johannes Betz; Hongrui Zheng; Rahul Mangharam (COMSNETS, 2022)

Stress Testing Autonomous Racing Overtake Maneuvers with RRT. - Stanley Bak; Johannes Betz; Abhinav Chawla; Hongrui Zheng; Rahul Mangharam (IV, 2022)

Winning the 3rd Japan Automotive AI Challenge - Autonomous Racing with the Autoware.Auto Open Source Software Stack. - Zirui Zang; Renukanandan Tumu; Johannes Betz; Hongrui Zheng; Rahul Mangharam (IV, 2022)

Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing. - Johannes Betz; Hongrui Zheng; Alexander Liniger; Ugo Rosolia; Phillip Karle; Madhur Behl; Venkat Krovi; Rahul Mangharam (CoRR, 2022)

Gradient-free Multi-domain Optimization for Autonomous Systems. - Hongrui Zheng; Johannes Betz; Rahul Mangharam (CoRR, 2022)

Game-theoretic Objective Space Planning. - Hongrui Zheng; Zhijun Zhuang; Johannes Betz; Rahul Mangharam (CoRR, 2022)

Accelerating Online Reinforcement Learning via Supervisory Safety Systems. - Benjamin David Evans; Johannes Betz; Hongrui Zheng; Herman A. Engelbrecht; Rahul Mangharam; Hendrik W. Jordaan (CoRR, 2022)

Teaching Autonomous Systems Hands-On: Leveraging Modular Small-Scale Hardware in the Robotics Classroom. - Johannes Betz; Hongrui Zheng; Zirui Zang; Florian Sauerbeck; Krzysztof Walas; Velin Dimitrov; Madhur Behl; Rosa Zheng; Joydeep Biswas; Venkat Krovi; Rahul Mangharam (CoRR, 2022)

You Don't Know When I Will Arrive: Unpredictable Controller Synthesis for Temporal Logic Tasks. - Yu Chen 072; Shuo Yang 007; Rahul Mangharam; Xiang Yin 003 (CoRR, 2022)

Towards Explainability in Modular Autonomous Vehicle Software. - Hongrui Zheng; Zirui Zang; Shuo Yang 007; Rahul Mangharam (CoRR, 2022)

Safe Perception-Based Control Under Stochastic Sensor Uncertainty Using Conformal Prediction. - Shuo Yang 007; George J. Pappas; Rahul Mangharam; Lars Lindemann (CDC, 2023)

Bypassing the Simulation-to-Reality Gap: Online Reinforcement Learning Using a Supervisor. - Benjamin David Evans; Johannes Betz; Hongrui Zheng; Herman A. Engelbrecht; Rahul Mangharam; Hendrik W. Jordaan (ICAR, 2023)

Local_INN: Implicit Map Representation and Localization with Invertible Neural Networks. - Zirui Zang; Hongrui Zheng; Johannes Betz; Rahul Mangharam (ICRA, 2023)

Drive Right: Shaping Public's Trust, Understanding, and Preference Towards Autonomous Vehicles Using a Virtual Reality Driving Simulator. - Zhijie Qiao; Xiatao Sun; Helen Loeb; Rahul Mangharam (IV, 2023)

A Benchmark Comparison of Imitation Learning-based Control Policies for Autonomous Racing. - Xiatao Sun; Mingyan Zhou; Zhijun Zhuang; Shuo Yang 007; Johannes Betz; Rahul Mangharam (IV, 2023)

Physics Constrained Motion Prediction with Uncertainty Quantification. - Renukanandan Tumu; Lars Lindemann; Truong Nghiem; Rahul Mangharam (IV, 2023)

Towards Explainability in Modular Autonomous System Software. - Hongrui Zheng; Zirui Zang; Shuo Yang 007; Rahul Mangharam (IV, 2023)

Drive Right: Promoting Autonomous Vehicle Education Through an Integrated Simulation Platform. - Zhijie Qiao; Helen Loeb; Venkata Gurrla; Matt Lebermann; Johannes Betz; Rahul Mangharam (CoRR, 2023)

MEGA-DAgger: Imitation Learning with Multiple Imperfect Experts. - Xiatao Sun; Shuo Yang 007; Rahul Mangharam (CoRR, 2023)

Differentiable Trajectory Generation for Car-like Robots with Interpolating Radial Basis Function Networks. - Hongrui Zheng; Rahul Mangharam (CoRR, 2023)

Ensemble Gaussian Processes for Adaptive Autonomous Driving on Multi-friction Surfaces. - Tomás Nagy; Ahmad Amine; Truong X. Nghiem; Ugo Rosolia; Zirui Zang; Rahul Mangharam (CoRR, 2023)

Multi-Agent Reinforcement Learning Guided by Signal Temporal Logic Specifications. - Jiangwei Wang; Shuo Yang 007; Ziyan An; Songyang Han; Zhili Zhang; Rahul Mangharam; Meiyi Ma; Fei Miao (CoRR, 2023)

AV4EV: Open-Source Modular Autonomous Electric Vehicle Platform to Make Mobility Research Accessible. - Zhijie Qiao; Mingyan Zhou; Tejas Agarwal; Zhijun Zhuang; Felix Jahncke; Po-Jen Wang; Jason Friedman 002; Hongyi Lai; Divyanshu Sahu; Tomás Nagy; Martin Endler; Jason Schlessman; et al. (CoRR, 2023)

Differentiable Safe Controller Design Through Control Barrier Functions. - Shuo Yang 007; Shaoru Chen; Victor M. Preciado; Rahul Mangharam (IEEE Control. Syst. Lett., 2023)

Fiber Organization Has Little Effect on Electrical Activation Patterns During Focal Arrhythmias in the Left Atrium. - Jiyue He; Arkady M. Pertsov; Elizabeth M. Cherry; Flavio H. Fenton; Caroline H. Roney; Steven A. Niederer; Zirui Zang; Rahul Mangharam (IEEE Trans. Biomed. Eng., 2023)

Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions. - Shuo Yang 007; Mitchell Black 001; Georgios Fainekos; Bardh Hoxha; Hideki Okamoto; Rahul Mangharam (ACC, 2024)

Conformal Off-Policy Prediction for Multi-Agent Systems. - Tom Kuipers; Renukanandan Tumu; Shuo Yang 007; Milad Kazemi; Rahul Mangharam; Nicola Paoletti (CDC, 2024)

Learning Adaptive Safety for Multi-Agent Systems. - Luigi Berducci; Shuo Yang 007; Rahul Mangharam; Radu Grosu (ICRA, 2024)

AV4EV: Open-Source Modular Autonomous Electric Vehicle Platform for Making Mobility Research Accessible. - Zhijie Qiao; Mingyan Zhou; Zhijun Zhuang; Tejas Agarwal; Felix Jahncke; Po-Jen Wang; Jason Friedman 002; Hongyi Lai; Divyanshu Sahu; Tomás Nagy; Martin Endler; Jason Schlessman; et al. (IV, 2024)

Multi-modal conformal prediction regions by optimizing convex shape templates. - Renukanandan Tumu; Matthew Cleaveland; Rahul Mangharam; George J. Pappas; Lars Lindemann (L4DC, 2024)

Learning Local Control Barrier Functions for Safety Control of Hybrid Systems. - Shuo Yang 007; Yu Chen 072; Xiang Yin 003; Rahul Mangharam (CoRR, 2024)

Bridging the Gap between Discrete Agent Strategies in Game Theory and Continuous Motion Planning in Dynamic Environments. - Hongrui Zheng; Zhijun Zhuang; Stephanie Wu; Shuo Yang 007; Rahul Mangharam (CoRR, 2024)

PoseINN: Realtime Visual-based Pose Regression and Localization with Invertible Neural Networks. - Zirui Zang; Ahmad Amine; Rahul Mangharam (CoRR, 2024)

Editorial: Special Issue on Opportunities and Challenges with Autonomous Racing. - Johannes Betz; Venkat Krovi; Rahul Mangharam; Madhur Behl (Field Robotics, 2024)

Individualization of Atrial Tachycardia Models for Clinical Applications: Performance of Fiber-Independent Model. - Jiyue He; Arkady M. Pertsov; John R. Bullinga; Rahul Mangharam (IEEE Trans. Biomed. Eng., 2024)

STLGame: Signal Temporal Logic Games in Adversarial Multi-Agent Systems. - Shuo Yang 007; Hongrui Zheng; Cristian-Ioan Vasile; George J. Pappas; Rahul Mangharam (L4DC, 2025)

Opportunistic Routing in Wireless Communications via Learnable State-Augmented Policies. - Sourajit Das; Navid Naderializadeh; Rahul Mangharam; Alejandro Ribeiro (CoRR, 2025)

Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap. - Jianye Xu; Bassam Alrifaee; Johannes Betz; Armin Mokhtarian; Archak Mittal; Mengchi Cai; Rahul Mangharam; Omar M. Shehata; Catherine M. Elias; Jan-Nico Zaech; Patrick Scheffe; Felix Jahncke; et al. (CoRR, 2025)