Publications

Garg, Kunal; Sanfelice, Ricardo G.; Cardenas, Alvaro; Control Barrier Function based Attack-Recovery with Provable Guarantees, IEEE Transactions on Automatic Control, under review. 

Zhang, Songyuan; So, Oswin; Garg, Kunal; Fan, Chuchu, Gcbf+: A neural graph control barrier function framework for distributed safe multi-agent control, IEEE Transactions on Robotics, 2025. 

Kisole, Sengiyumva; Garg, Kunal; Peet, Matthew, Bounding the Settling Time of Finite-Time Stable Systems using Sum of Squares, 13th IFAC Symposium on Nonlinear Control Systems, 2025.

Parashar, Anjali; Garg, Kunal; Zhang, Joseph; Fan, Chuchu;  Failure Prediction from Limited Hardware Demonstrations, 61st Annual Allerton Conference on Communication, Control, and Computing (Allerton), 2025

Garg, Kunal; Zhang, Songyuan; So, Oswin; Dawson, Charles; Fan, Chuchu, Learning safe control for multi-robot systems: Methods, verification, and open challenges, Annual Reviews in Control, 2024.

Garg, Kunal; Usevitch, James; Breeden, Joseph; Black, Mitchell; Agrawal, Devansh; Parwana, Hardik; Panagou, Dimitra, Advances in the theory of control barrier functions: Addressing practical challenges in safe control synthesis for autonomous and robotic systems, Annual Reviews in Control, 2024

Garg, Kunal; Arkin, Jacob; Zhang, Songyuan; Roy, Nicholas; Fan, Chuchu; Foundation Models to the Rescue: Deadlock Resolution in Connected Multi-Robot Systems, arXiv preprint arXiv:2404.06413

Garg, Kunal; Hamilton, Sera; Fan, Chuchu; Deadlock Resolution of Connected Multi-Agent Systems using Hierarchical Control, 63rd IEEE Conference on Decision and Control, 2024

Garg, Kunal; Dawson, Charles; Xu, Kathleen; Ornik, Melkior; Fan, Chuchu; Model-free neural fault detection and isolation for safe control, IEEE Control Systems Letters, 2023

Zhang, Songyuan; Garg, Kunal; Fan, Chuchu; Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control, 7th Annual Conference on Robot Learning, 2023

Garg, Kunal; Fan, Chuchu; Neural Network-based Fault Detection and Identification for Quadrotors using Dynamic Symmetry, 59th Annual Allerton Conference on Communication, Control, and Computing (Allerton), 2023

Garg, Kunal; Baranwal, Mayank; Gupta, Rohit; Mouhacine, Benosman; Fixed-Time Stable Proximal Dynamical System for Solving MVIPs, Transactions on Automatic Control, 2023

Garg, Kunal; Baranwal, Mayank; Accelerating Distributed Optimization via Fixed-time Convergent Flows:   Extensions to Non-convex Functions and Consistent Discretization, IFAC World Congress, 2023

Leudo, Santiago J; Garg, Kunal; Sanfelice, Ricardo G; Cardenas, Alvaro A; An Observer-based Switching Algorithm for Safety under Sensor Denial-of-Service Attacks. American Control Conference (ACC). IEEE, 2023.

Burbano, Luis; Garg, Kunal; Leudo, Santiago J; Cardenas, Alvaro A; Sanfelice, Ricardo G; Online Attack Recovery in Cyberphysical Systems, IEEE Security & Privacy, 2023

Garg, Kunal; Cardenas, Alvaro A; Sanfelice, Ricardo G; Sampling-based Computation of Viability Domain to Prevent Safety Violations by Attackers, IEEE Conference on Control Technology and Applications, 2022

Garg, Kunal; Sanfelice, Ricardo G; Cardenas, Alvaro A; Control barrier function based attack-recovery with provable guarantees, IEEE Conference on Decision and Control, 2022

Garg, Kunal; Arabi, Ehsan; Panagou, Dimitra; Fixed-time control under spatiotemporal and input constraints: A Quadratic Programming based approach, Automatica, 2022

Breeden, Joseph; Garg, Kunal; Panagou, Dimitra; Control Barrier Functions in Sampled-Data Systems, IEEE Control Systems Letter (L-CSS), 2022

Garg, Kunal; Cosner, Ryan K; Rosolia, Ugo; Ames, Aaron D; Panagou, Dimitra; Multi-rate Control Design under Input Constraints via Fixed-Time Barrier Functions, IEEE Control Systems Letter (L-CSS), 2022

Garg, Kunal; Baranwal, Mayank; Fixed-Time Convergence for a Class of Nonconvex-Nonconcave Min-Max Problems, 8th Indian Control Conference, 2022

Budhraja, Param; Baranwal, Mayank; Garg, Kunal; Hota, Ashish; Breaking the Convergence Barrier: Optimization via Fixed-Time Convergent Flows, AAAI Conference on Artificial Intelligence (AAAI '22)

Garg, Kunal; Panagou, Dimitra; Fixed-time Stable Gradient-flow Schemes: Applications to Continuous-time Optimization, IEEE Transactions on Automatic Control, 2021

Baranwal, Mayank; Garg, Kunal; Panagou, Dimitra; Hero, Alfred O;  Robust Distributed Fixed-Time Economic Dispatch under Time-Varying Topology, IEEE Control Systems Letter (L-CSS), 2021

Garg, Kunal; Panagou, Dimitra; Finite-time stabilization of switched systems with unstable modes, IEEE Conference on Decision and Control 2021

Garg, Kunal; Panagou, Dimitra; Finite-time stability of hybrid systems with unstable modes, Frontiers in Control Engineering, 2021

Garg, Kunal; Panagou, Dimitra; Robust Control Barrier and Control Lyapunov Functions with Fixed-Time Convergence Guarantees, 2021 American Control Conference

Garg, Kunal; Panagou, Dimitra; Characterization of Domain of Fixed-time Stability under Control Input Constraints, 2021 American Control Conference

Garg, Kunal; Baranwal, Mayank; CAPPA: Continuous-time Accelerated Proximal Point Algorithm for Sparse Recovery, IEEE Signal Processing Letters, 2020

Black, Mitchell; Garg, Kunal; Panagou, Dimitra; A Quadratic Program based Control Synthesis under Spatiotemporal Constraints and Non-vanishing Disturbances, 2020 IEEE 59th Conference on Decision and Control

Usevitch, James; Garg, Kunal; Panagou, Dimitra; Strong Invariance Using Control Barrier Functions: A Clarke Tangent Cone Approach, 2020 IEEE 59th Conference on Decision and Control

Garg, Kunal; Baranwal, Mayank; Panagou, Dimitra; A Fixed-Time Convergent Distributed Algorithm for Strongly Convex Functions in a Time-Varying Network, 2020 IEEE 59th Conference on Decision and Control (CDC)

Garg, Kunal; Arabi, Ehsan; Panagou, Dimitra; Prescribed-time convergence with input constraints: A control Lyapunov function based approach, 2020 American Control Conference

Arabi, Ehsan; Garg, Kunal; Panagou, Dimitra; Safety-Critical Adaptive Control with Nonlinear Reference Model Systems, 2020 American Control Conference

Garg, Kunal; Panagou, Dimitra; Hybrid planning and control for multiple fixed-wing aircraft under input constraints, AIAA Scitech 2019 Forum

Garg, Kunal; Panagou, Dimitra; Finite-Time Estimation and Control for Multi-Aircraft Systems Under Wind and Dynamic Obstacles, Journal of Guidance, Control, and Dynamics, 2019

Garg, Kunal; Panagou, Dimitra; Control-lyapunov and control-barrier functions based quadratic program for spatio-temporal specifications, 2019 IEEE 58th Conference on Decision and Control (CDC)

Garg, Kunal; Panagou, Dimitra; A robust coordination protocol for safe multi-agent motion planning, 2018 AIAA Guidance, Navigation, and Control Conference

Usevitch, James; Garg, Kunal; Panagou, Dimitra; Finite-time resilient formation control with bounded inputs, 2018 IEEE conference on decision and control (CDC)

Garg, Kunal; Panagou, Dimitra; New Results on Finite-Time Stability: Geometric Conditions and Finite-Time Controllers, 2018 Annual American Control Conference (ACC)

Garg, Kunal; Han, Dongkun; Panagou, Dimitra; Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances, 2017 IEEE 56th Annual Conference on Decision and Control (CDC)

Zhang, Songyuan; So, Oswin; Garg, Kunal; Fan, Chuchu, Gcbf+: A neural graph control barrier function framework for distributed safe multi-agent control, IEEE Transactions on Robotics, 2025. 

Garg, Kunal; Zhang, Songyuan; So, Oswin; Dawson, Charles; Fan, Chuchu, Learning safe control for multi-robot systems: Methods, verification, and open challenges, Annual Reviews in Control, 2024.

Garg, Kunal; Usevitch, James; Breeden, Joseph; Black, Mitchell; Agrawal, Devansh; Parwana, Hardik; Panagou, Dimitra, Advances in the theory of control barrier functions: Addressing practical challenges in safe control synthesis for autonomous and robotic systems, Annual Reviews in Control, 2024

Garg, Kunal; Dawson, Charles; Xu, Kathleen; Ornik, Melkior; Fan, Chuchu; Model-free neural fault detection and isolation for safe control, IEEE Control Systems Letters, 2023

Garg, Kunal; Baranwal, Mayank; Gupta, Rohit; Mouhacine, Benosman; Fixed-Time Stable Proximal Dynamical System for Solving MVIPs, IEEE Transactions on Automatic Control, 2023

Burbano, Luis and Garg, Kunal and Leudo, Santiago J. and Cardenas, Alvaro A. and Sanfelice, Ricardo G.; Online Attack Recovery in Cyberphysical Systems, IEEE Security & Privacy, 2023

Garg, Kunal; Arabi, Ehsan; Panagou, Dimitra; Fixed-time control under spatiotemporal and input constraints: A Quadratic Programming based approach, Automatica, 2022

Breeden, Joseph; Garg, Kunal; Panagou, Dimitra; Control Barrier Functions in Sampled-Data Systems, IEEE Control Systems Letter (L-CSS), 2022

Garg, Kunal; Cosner, Ryan K; Rosolia, Ugo; Ames, Aaron D; Panagou, Dimitra; Multi-rate Control Design under Input Constraints via Fixed-Time Barrier Functions, IEEE Control Systems Letter (L-CSS), 2022

Garg, Kunal; Panagou, Dimitra; Fixed-time Stable Gradient-flow Schemes: Applications to Continuous-time Optimization, IEEE Transactions on Automatic Control, 2021

Baranwal, Mayank; Garg, Kunal; Panagou, Dimitra; Hero, Alfred O;  Robust Distributed Fixed-Time Economic Dispatch under Time-Varying Topology, IEEE Control Systems Letter (L-CSS), 2021

Garg, Kunal; Panagou, Dimitra; Finite-time stability of hybrid systems with unstable modes, Frontiers in Control Engineering, 2021

Garg, Kunal; Baranwal, Mayank; CAPPA: Continuous-time Accelerated Proximal Point Algorithm for Sparse Recovery, IEEE Signal Processing Letters, 2020

Garg, Kunal; Panagou, Dimitra; Finite-Time Estimation and Control for Multi-Aircraft Systems Under Wind and Dynamic Obstacles, Journal of Guidance, Control, and Dynamics, 2019

Parashar, Anjali; Garg, Kunal; Zhang, Joseph; Fan, Chuchu;  Failure Prediction from Limited Hardware Demonstrations, 61st Annual Allerton Conference on Communication, Control, and Computing (Allerton), 2025

Kisole, Sengiyumva; Garg, Kunal; Peet, Matthew, Bounding the Settling Time of Finite-Time Stable Systems using Sum of Squares, 13th IFAC Symposium on Nonlinear Control Systems 2025

Garg, Kunal; Hamilton, Sera; Fan, Chuchu; Deadlock Resolution of Connected Multi-Agent Systems using Hierarchical Control, 63rd IEEE Conference on Decision and Control, 2024

Zhang, Songyuan; Garg, Kunal; Fan, Chuchu; Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control, 7th Annual Conference on Robot Learning, 2023

Garg, Kunal; Fan, Chuchu; Neural Network-based Fault Detection and Identification for Quadrotors using Dynamic Symmetry, 59th Annual Allerton Conference on Communication, Control, and Computing (Allerton), 2023

Garg, Kunal; Baranwal, Mayank; Accelerating Distributed Optimization via Fixed-time Convergent Flows:   Extensions to Non-convex Functions and Consistent Discretization, IFAC World Congress, 2023

Leudo, Santiago Jimenez; Garg, Kunal; Sanfelice, Ricardo G; Cardenas, Alvaro A; An Observer-based Switching Algorithm for Safety under Sensor Denial-of-Service Attacks. American Control Conference (ACC). IEEE, 2023.

Garg, Kunal; Cardenas, Alvaro A; Sanfelice, Ricardo G; Sampling based Computation of Viability Domain to Prevent Safety Violations by Attackers, IEEE Conference on Control Technology and Applications, 2022

Garg, Kunal; Sanfelice, Ricardo G; Cardenas, Alvaro A; Control barrier function based attack-recovery with provable guarantees, IEEE Conference on Decision and Control, 2022

Garg, Kunal; Baranwal, Mayank; Fixed-Time Convergence for a Class of Nonconvex-Nonconcave Min-Max Problems, 8th Indian Control Conference, 2022

Budhraja, Param; Baranwal, Mayank; Garg, Kunal; Hota, Ashish; Breaking the Convergence Barrier: Optimization via Fixed-Time Convergent Flows, AAAI Conference on Artificial Intelligence (AAAI '22)

Garg, Kunal; Panagou, Dimitra; Finite-time stabilization of switched systems with unstable modes, IEEE Conference on Decision and Control 2021

Garg, Kunal; Panagou, Dimitra; Robust Control Barrier and Control Lyapunov Functions with Fixed-Time Convergence Guarantees, 2021 American Control Conference

Garg, Kunal; Panagou, Dimitra; Characterization of Domain of Fixed-time Stability under Control Input Constraints, 2021 American Control Conference

Black, Mitchell; Garg, Kunal; Panagou, Dimitra; A Quadratic Program based Control Synthesis under Spatiotemporal Constraints and Non-vanishing Disturbances, 2020 IEEE 59th Conference on Decision and Control

Usevitch, James; Garg, Kunal; Panagou, Dimitra; Strong Invariance Using Control Barrier Functions: A Clarke Tangent Cone Approach, 2020 IEEE 59th Conference on Decision and Control

Garg, Kunal; Baranwal, Mayank; Panagou, Dimitra; A Fixed-Time Convergent Distributed Algorithm for Strongly Convex Functions in a Time-Varying Network, 2020 IEEE 59th Conference on Decision and Control (CDC)

Garg, Kunal; Arabi, Ehsan; Panagou, Dimitra; Prescribed-time convergence with input constraints: A control Lyapunov function based approach, 2020 American Control Conference

Arabi, Ehsan; Garg, Kunal; Panagou, Dimitra; Safety-Critical Adaptive Control with Nonlinear Reference Model Systems, 2020 American Control Conference

Garg, Kunal; Panagou, Dimitra; Hybrid planning and control for multiple fixed-wing aircraft under input constraints, AIAA Scitech 2019 Forum

Garg, Kunal; Panagou, Dimitra; Control-lyapunov and control-barrier functions based quadratic program for spatio-temporal specifications, 2019 IEEE 58th Conference on Decision and Control (CDC)

Garg, Kunal; Panagou, Dimitra; A robust coordination protocol for safe multi-agent motion planning, 2018 AIAA Guidance, Navigation, and Control Conference

Usevitch, James; Garg, Kunal; Panagou, Dimitra; Finite-time resilient formation control with bounded inputs, 2018 IEEE conference on decision and control (CDC)

Garg, Kunal; Panagou, Dimitra; New Results on Finite-Time Stability: Geometric Conditions and Finite-Time Controllers, 2018 Annual American Control Conference (ACC)

Garg, Kunal; Han, Dongkun; Panagou, Dimitra; Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances, 2017 IEEE 56th Annual Conference on Decision and Control (CDC)