Plug-and-play model predictive control for electric vehicle charging and voltage control in smart grids. - Somil Bansal; Melanie Nicole Zeilinger; Claire J. Tomlin (CDC, 2014)

Learning quadrotor dynamics using neural network for flight control. - Somil Bansal; Anayo K. Akametalu; Frank J. Jiang; Forrest Laine; Claire J. Tomlin (CDC, 2016)

Safe Sequential Path Planning of Multi-Vehicle Systems Under Presence of Disturbances and Imperfect Information. - Somil Bansal; Mo Chen 001; Jaime F. Fisac; Claire J. Tomlin (CoRR, 2016)

Robust Sequential Path Planning Under Disturbances and Adversarial Intruder. - Mo Chen 001; Somil Bansal; Jaime F. Fisac; Claire J. Tomlin (CoRR, 2016)

Safe sequential path planning under disturbances and imperfect information. - Somil Bansal; Mo Chen 001; Jaime F. Fisac; Claire J. Tomlin (ACC, 2017)

Hamilton-Jacobi reachability: A brief overview and recent advances. - Somil Bansal; Mo Chen 001; Sylvia L. Herbert; Claire J. Tomlin (CDC, 2017)

Goal-driven dynamics learning via Bayesian optimization. - Somil Bansal; Roberto Calandra; Ted Xiao; Sergey Levine; Claire J. Tomlin (CDC, 2017)

FaSTrack: A modular framework for fast and guaranteed safe motion planning. - Sylvia L. Herbert; Mo Chen 001; SooJean Han; Somil Bansal; Jaime F. Fisac; Claire J. Tomlin (CDC, 2017)

Provably Safe and Robust Drone Routing via Sequential Path Planning: A Case Study in San Francisco and the Bay Area. - Mo Chen 001; Somil Bansal; Ken Tanabe; Claire J. Tomlin (CoRR, 2017)

MBMF: Model-Based Priors for Model-Free Reinforcement Learning. - Somil Bansal; Roberto Calandra; Sergey Levine; Claire J. Tomlin (CoRR, 2017)

Safe and Resilient Multi-vehicle Trajectory Planning Under Adversarial Intruder. - Somil Bansal; Mo Chen 001; Claire J. Tomlin (CoRR, 2017)

Context-Specific Validation of Data-Driven Models. - Somil Bansal; Shromona Ghosh; Alberto L. Sangiovanni-Vincentelli; Sanjit A. Seshia; Claire J. Tomlin (CoRR, 2018)

Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems. - Mo Chen 001; Sylvia L. Herbert; Mahesh S. Vashishtha; Somil Bansal; Claire J. Tomlin (IEEE Trans. Autom. Control., 2018)

An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments. - Andrea Bajcsy; Somil Bansal; Eli Bronstein; Varun Tolani; Claire J. Tomlin (CDC, 2019)

Closed-loop Model Selection for Kernel-based Models using Bayesian Optimization. - Thomas Beckers 001; Somil Bansal; Claire J. Tomlin; Sandra Hirche (CDC, 2019)

Reachability-Based Safety Guarantees using Efficient Initializations. - Sylvia L. Herbert; Somil Bansal; Shromona Ghosh; Claire J. Tomlin (CDC, 2019)

Combining Optimal Control and Learning for Visual Navigation in Novel Environments. - Somil Bansal; Varun Tolani; Saurabh Gupta 001; Jitendra Malik; Claire J. Tomlin (CoRL, 2019)

A new simulation metric to determine safe environments and controllers for systems with unknown dynamics. - Shromona Ghosh; Somil Bansal; Alberto L. Sangiovanni-Vincentelli; Sanjit A. Seshia; Claire J. Tomlin (HSCC, 2019)

Robust Sequential Trajectory Planning Under Disturbances and Adversarial Intruder. - Mo Chen 001; Somil Bansal; Jaime F. Fisac; Claire J. Tomlin (IEEE Trans. Control. Syst. Technol., 2019)

Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids. - Caroline Le Floch; Somil Bansal; Claire J. Tomlin; Scott J. Moura; Melanie N. Zeilinger (IEEE Trans. Smart Grid, 2019)

A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning. - Somil Bansal; Andrea Bajcsy; Ellis Ratner; Anca D. Dragan; Claire J. Tomlin (ICRA, 2020)

Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability. - Anjian Li; Somil Bansal; Georgios Giovanis; Varun Tolani; Claire J. Tomlin; Mo Chen 001 (L4DC, 2020)

DeepReach: A Deep Learning Approach to High-Dimensional Reachability. - Somil Bansal; Claire J. Tomlin (ICRA, 2021)

A Robust Control Framework for Human Motion Prediction. - Andrea Bajcsy; Somil Bansal; Ellis Ratner; Claire J. Tomlin; Anca D. Dragan (IEEE Robotics Autom. Lett., 2021)

Visual Navigation Among Humans With Optimal Control as a Supervisor. - Varun Tolani; Somil Bansal; Aleksandra Faust; Claire J. Tomlin (IEEE Robotics Autom. Lett., 2021)

FaSTrack: A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking. - Mo Chen 001; Sylvia L. Herbert; Haimin Hu; Ye Pu; Jaime Fernández Fisac; Somil Bansal; SooJean Han; Claire J. Tomlin (IEEE Trans. Autom. Control., 2021)

Provably Safe and Scalable Multivehicle Trajectory Planning. - Somil Bansal; Mo Chen 001; Ken Tanabe; Claire J. Tomlin (IEEE Trans. Control. Syst. Technol., 2021)

Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots. - Jason J. Choi; Ayush Agrawal; Koushil Sreenath; Claire J. Tomlin; Somil Bansal (IEEE Robotics Autom. Lett., 2022)

Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online. - Javier Borquez; Kensuke Nakamura 002; Somil Bansal (ICRA, 2023)

Generating Formal Safety Assurances for High-Dimensional Reachability. - Albert Lin 003; Somil Bansal (ICRA, 2023)

Online Update of Safety Assurances Using Confidence-Based Predictions. - Kensuke Nakamura 002; Somil Bansal (ICRA, 2023)

Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis. - Kaustav Chakraborty; Somil Bansal (IEEE Robotics Autom. Lett., 2023)

Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker. - Xingpeng Xia; Jason J. Choi; Ayush Agrawal; Koushil Sreenath; Claire J. Tomlin; Somil Bansal (CDC, 2024)

Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers. - Aryaman Gupta; Kaustav Chakraborty; Somil Bansal (ICRA, 2024)

Parameterized fast and safe tracking (FaSTrack) using DeepReach. - Hyun Joe Jeong; Zheng Gong; Somil Bansal; Sylvia L. Herbert (L4DC, 2024)

Verification of neural reachable tubes via scenario optimization and conformal prediction. - Albert Lin 003; Somil Bansal (L4DC, 2024)

Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions. - Javier Borquez; Shuang Peng 014; Yiyu Chen; Quan Nguyen 004; Somil Bansal (Robotics: Science and Systems, 2024)

Imposing Exact Safety Specifications in Neural Reachable Tubes. - Aditya Singh; Zeyuan Feng; Somil Bansal (CoRR, 2024)

SAFE-GIL: SAFEty Guided Imitation Learning. - Yusuf Umut Ciftci; Zeyuan Feng; Somil Bansal (CoRR, 2024)

Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach. - HyunJae Jeong; Zheng Gong; Somil Bansal; Sylvia L. Herbert (CoRR, 2024)

Updating Robot Safety Representations Online from Natural Language Feedback. - Leonardo Santos; Zirui Li; Lasse Peters; Somil Bansal; Andrea Bajcsy (CoRR, 2024)

System-Level Safety Monitoring and Recovery for Perception Failures in Autonomous Vehicles. - Kaustav Chakraborty; Zeyuan Feng; Sushant Veer; Apoorva Sharma; Boris Ivanovic; Marco Pavone 001; Somil Bansal (CoRR, 2024)

Reachability Analysis for Black-Box Dynamical Systems. - Vamsi Krishna Chilakamarri; Zeyuan Feng; Somil Bansal (CoRR, 2024)

Enhancing Safety and Robustness of Vision-Based Controllers via Reachability Analysis. - Kaustav Chakraborty; Aryaman Gupta; Somil Bansal (CoRR, 2024)

One Filter to Deploy Them All: Robust Safety for Quadrupedal Navigation in Unknown Environments. - Albert Lin 003; Shuang Peng 014; Somil Bansal (CoRR, 2024)

Providing Safety Assurances for Systems With Unknown Dynamics. - Hao Wang 127; Javier Borquez; Somil Bansal (IEEE Control. Syst. Lett., 2024)

Cooptimizing Safety and Performance With a Control-Constrained Formulation. - Hao Wang 127; Adityaya Dhande; Somil Bansal (IEEE Control. Syst. Lett., 2024)

On Safety and Liveness Filtering Using Hamilton-Jacobi Reachability Analysis. - Javier Borquez; Kaustav Chakraborty; Hao Wang 127; Somil Bansal (IEEE Trans. Robotics, 2024)

Linear Supervision for Nonlinear, High-Dimensional Neural Control and Differential Games. - Will Sharpless; Zeyuan Feng; Somil Bansal; Sylvia L. Herbert (L4DC, 2025)

A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems. - Manan Tayal; Aditya Singh; Shishir Kolathaya; Somil Bansal (CoRR, 2025)

Stable-BC: Controlling Covariate Shift With Stable Behavior Cloning. - Shaunak A. Mehta; Yusuf Umut Ciftci; Balamurugan Ramachandran; Somil Bansal; Dylan P. Losey (IEEE Robotics Autom. Lett., 2025)

Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis. - Zeyuan Feng; Le Qiu; Somil Bansal (CoRR, 2025)

Reachability Barrier Networks: Learning Hamilton-Jacobi Solutions for Smooth and Flexible Control Barrier Functions. - Matthew Kim; Will Sharpless; Hyun Joe Jeong; Sander Tonkens; Somil Bansal; Sylvia L. Herbert (CoRR, 2025)

Enhancing Robot Safety via MLLM-Based Semantic Interpretation of Failure Data. - Aryaman Gupta; Yusuf Umut Ciftci; Somil Bansal (CoRR, 2025)

Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis. - Hao Wang; Armand Jordana; Ludovic Righetti; Somil Bansal (CoRR, 2025)

Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators. - Kaustav Chakraborty; Zeyuan Feng; Sushant Veer; Apoorva Sharma; Wenhao Ding; Sever Topan; Boris Ivanovic; Marco Pavone 001; Somil Bansal (CoRR, 2025)

DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability. - Javier Borquez; Luke Raus; Yusuf Umut Ciftci; Somil Bansal (IEEE Robotics Autom. Lett., 2025)

Safety-Aware Imitation Learning via MPC-Guided Disturbance Injection. - Le Qiu; Yusuf Umut Ciftci; Somil Bansal (CoRR, 2025)