Publications

• Chauhan, Anand; Garg, Kunal; BarrierFormer: Transformer-Guided Predictive Barrier Enforcement for Safe Robot Control, Conference on Robot Learning, 2026.

• Arefizadeh, Sina; Garg, Kunal; Nedić, Angelia; On Fixed-Time Stability of Continuous Dynamics for Non-Monotone Variational Inequalities, under review, 2026.

• Arefizadeh, Sina; Garg, Kunal; Nedić, Angelia; Exponentially Stable Dynamical Systems for Non-Monotone Variational Inequalities, under review, 2026.

• Garg, Kunal; Equivalence of Finite- and Fixed-time Stability to Asymptotic Stability, under review, 2026.

• Garg, Kunal; Yu, Xi; Hybrid topology control: a dynamic leader-based distributed edge-addition and deletion mechanism, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2026. 

• Garg, Kunal; Sanfelice, Ricardo G.; Cardenas, Alvaro; Control Barrier Function based Attack-Recovery with Provable Guarantees, IEEE Transactions on Automatic Control 2026 [PDF]. 

• 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 [PDF]. 

• 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 [PDF].

• 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 [PDF].

• 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 [PDF].

• 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 (CDC) [PDF].

• 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 (L-CSS) [PDF].

• 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 (CoRL)

• 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 [PDF].

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

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

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

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

• 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 (CCTA) [PDF].

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

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

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

• 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 [PDF].

• Garg, Kunal; Baranwal, Mayank; Fixed-Time Convergence for a Class of Nonconvex-Nonconcave Min-Max Problems, 8th Indian Control Conference, 2022 (ICC) [PDF]

• 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 [PDF].

• 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 [PDF].

• Garg, Kunal; Panagou, Dimitra; Finite-time stabilization of switched systems with unstable modes, IEEE Conference on Decision and Control (CDC) 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 (ACC) [PDF].

• Garg, Kunal; Panagou, Dimitra; Characterization of Domain of Fixed-time Stability under Control Input Constraints, 2021 American Control Conference(ACC) [PDF].

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

• 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 (CDC) [PDF].

• 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 (CDC) [PDF].

• 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) [PDF].

• Garg, Kunal; Arabi, Ehsan; Panagou, Dimitra; Prescribed-time convergence with input constraints: A control Lyapunov function based approach, 2020 American Control Conference (ACC) [PDF].

• Arabi, Ehsan; Garg, Kunal; Panagou, Dimitra; Safety-Critical Adaptive Control with Nonlinear Reference Model Systems, 2020 American Control Conference (ACC) [PDF].

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

• 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 [PDF].

• 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) [PDF].

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

• Usevitch, James; Garg, Kunal; Panagou, Dimitra; Finite-time resilient formation control with bounded inputs, 2018 IEEE Conference on Decision and Control (CDC) [PDF].

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

• 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) [PDF].

• Garg, Kunal; Sanfelice, Ricardo G.; Cardenas, Alvaro; Control Barrier Function based Attack-Recovery with Provable Guarantees, IEEE Transactions on Automatic Control 2026, accepted, to appear.

• 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; Garg, Kunal; Leudo, Santiago J.; Cardenas, Alvaro A.; 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

• Chauhan, Anand; Garg, Kunal; BarrierFormer: Transformer-Guided Predictive Barrier Enforcement for Safe Robot Control, Conference on Robot Learning, 2026.

• Garg, Kunal; Yu, Xi; Hybrid topology control: a dynamic leader-based distributed edge-addition and deletion mechanism,  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2026. 

• 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)

Advances in the Theory of Fixed-time Stability with Applications in Constrained Control and Optimization, PhD Thesis, University of Michigan, Ann Arbor, 2021