PUBLICATIONS

Patents

System and Method for Controlling Motion of One or More Devices"
A. P. Vinod, S. Safaoui, A. Chakrabarty, R. Quirynen, N. Yoshikawa, S. Di Cairano 

Journal Papers

Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning"
R. Quirynen, S. Safaoui, S. Di Cairano
(under review)

Safe multi-agent motion planning under uncertainty using filtered reinforcement learning"
S. Safaoui*, A. P. Vinod*, A. Chakrabarty, R. Quirynen, N. Yoshikawa, S. Di Cairano
IEEE Transactions on Robotics

Risk Bounded Nonlinear Robot Motion Planning With Integrated Perception & Control"
V. Renganathan, S. Safaoui, A. Kothari, B. Gravell, I. Shames, T. H. Summers
Elsevier Artificial Intelligence.

Control Design for Risk-Based Signal Temporal Logic Specifications
S. Safaoui, L. Lindemann, D. V. Dimarogonas, I. Shames, T. H. Summers
IEEE L-CSS

Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents
K. Fathian, S. Safaoui, T. H. Summers, N. R. Gans
IEEE Transactions on Robotics

Spoof Resilient Coordination in Distributed and Robust Robotic Networks
V. Renganathan, K. Fathian, S. Safaoui, T. H. Summers
IEEE Transactions on Control Systems Technology

Conference Papers

Distributionally Robust CVaR-Based Safety Filtering for Motion Planning in Uncertain Environments
S. Safaoui, T. H. Summers
IEEE International Conference on Robotics and Automation (ICRA), 2024, Yokohama, Japan

Risk-Bounded Temporal Logic Control of Continuous-Time Stochastic Systems
S. Safaoui, L. Lindemann, I. Shames, T. H. Summers
2022 American Control Conference (ACC), Atlanta, GA, USA

Safe Multi-Agent Motion Planning via Filtered Reinforcement Learning
A. P. Vinod, S. Safaoui, A. Chakrabarty, R. Quirynen, N. Yoshikawa, S. Di Cairano
IEEE International Conference on Robotics and Automation (ICRA), 2022, Philadelphia, Pennsylvania, USA

Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty
S. Safaoui*, B. J. Gravell*, V. Renganathan*, T. H. Summers
IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), 2021, Prague, Czech Republic

*Equal contribution of these authors

Robust 3D Distributed Formation Control with Collision Avoidance and Application to Multirotor Aerial Vehicles
K. Fathian, S. Safaoui, T. H. Summers, N. R. Gans
IEEE International Conference on Robotics and Automation (ICRA), 2019, Montreal, Canada

Download: http://www.utdallas.edu/~tyler.summers/papers/ICRA-3DFormCtrl_Final.pdf

Workshop Papers

Shared Reality: Detecting Stealthy Attacks Against Autonomous Vehicles
R. Quinonez, S. Safaoui, T. Summers, B. Thuraisingham, A. A. Cardenas
Joint Workshop on CPS and IoT Security and Privacy (CPSIoTSec), in conjunction with the ACM Conference on Computer and Communications Security, 2021, Seoul, South Korea.

Won Best Paper Award

Robust 3D distributed formation control with application to quadrotors
K. Fathian, S. Safaoui, T. H. Summers, N. R. Gans
IEEE/RSJ International Conference on Intelligent Robot and Systems, 2018, Madrid, Spain