Peer-reviewed journal publications
S. Adams, M. Lahijanian, and L. Laurenti, "Formal Control Synthesis for Stochastic Neural Network Dynamic Models," IEEE Control Systems Letters (LCSYS), 2022. [pdf: draft, final], [bib]
E. Pairet, J. D. Hernández, M. Carreras, Y. Petillot, and M. Lahijanian, "Online Mapping and Motion Planning under Uncertainty for Probabilistically Safe Autonomous Navigation," IEEE Transactions on Automation Science and Engineering (T-ASE), 2021. [pdf: draft, final], [bib]
L. Laurenti, M. Lahijanian, A. Abate, L. Cardelli, and M. Kwiatkowska, "Formal and Efficient Synthesis for Continuous-TimeLinear Stochastic Hybrid Processes," IEEE Transactions on Automatic Control (TAC), vol. 66, no. 1, pp. 17-32, Jan. 2021. [pdf: draft, final], [bib]
E. M. Hahn, V. Hashemi, H. Hermanns, M. Lahijanian, and A. Turrini, "Interval Markov Decision Processes with Multiple Objectives: from Robust Strategies to Pareto Curves," ACM Transactions on Modeling and Computer Simulation (TOMACS), vol. 29, no. 4, pp. 1-31, 2019. [pdf: draft, final], [bib]
K. He, M. Lahijanian, L. E. Kavraki, M. Vardi, "Automated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis," IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 285-292, Apr. 2019. [pdf: draft, final], [bib]
S. Edelkamp, M. Lahijanian, D. Magazzeni, and E. Plaku, "Integrating Temporal Reasoning and Sampling-Based Motion Planning for Multi-Goal Problems with Dynamics and Time Windows," IEEE Robotics and Automation Letters (RA-L) vol. 3, no. 4, pp. 3473-3480, Oct. 2018. (presented in IROS 2018) [pdf: draft, final], [bib]
M. Lahijanian, M. Svorenova, A. Morye, B. Yeomans, D. Rao, I. Posner, P. Newman, H. Kress-Gazit, and M. Kwiatkowska, "Resource-Performance Trade-off Analysis for Mobile Robots," IEEE Robotics and Automation Letters (RA-L), vol. 3, no. 3, pp. 1840-1847, July 2018. (presented in ICRA 2018) [pdf: draft, final], [bib]
H. Kress-Gazit, M. Lahijanian, and V. Raman, "Synthesis for Robots: Guarantees and Feedback for Robot Behavior," Journal of Annual Review of Control, Robotics, and Autonomous Systems, vol. 1, pp. 211-236, May 2018. [pdf: draft, final], [bib]
M. Lahijanian, M. Maly, D. Fried, L. E. Kavraki, H. Kress-Gazit, M. Y. Vardi, "Iterative Temporal Planning in Uncertain Environments with Partial Satisfaction Guarantees," IEEE Transactions on Robotics, vol. 32, no. 3, pp. 583-599, May 2016. [pdf: draft, final], [bib]
M. Lahijanian, S.B. Andersson, C. Belta, "Formal Verification and Synthesis for Discrete-Time Stochastic Systems," IEEE Transactions on Automatic Control, vol. 60, no. 8, pp. 2031-2045, Aug. 2015. [pdf], [bib]
J. Wang, X. C. Ding, M. Lahijanian, I. Ch. Paschalidis, C. Belta, "Temporal logic motion control using actor-critic methods," Int. Journal of Robotics Research, vol. 34, no. 10, pp. 1329-1344, Aug. 2015. [pdf], [bib]
M. Lahijanian, S.B. Andersson, and C. Belta, “Temporal logic motion planning and control with probabilistic satisfaction guarantees,” IEEE Transactions on Robotics, vol. 28, no. 2, pp. 396-409, Apr. 2012. [pdf], [bib]
S.B. Andersson, D. Hristu-Varsakelis, and M. Lahijanian, “Observers in language-based control,” Communications in Information and Systems (Special Issue Dedicated to the 70th Birthday of Roger Brockett), vol. 8. no. 2, pp. 85-106, 2009. [pdf], [bib]
Peer-reviewed conference publications
Q. H. Ho, Z. N. Sunberg, and M. Lahijanian, "Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals using Simplified Belief Guides," IEEE Conference on Robotics and Automation (ICRA), London, England, UK, 2023. (to appear) [pdf], [bib]
R. B. Ilyes, Q. H. Ho, and M. Lahijanian, "Stochastic Robustness Interval for Motion Planning with Signal Temporal Logic," IEEE Conference on Robotics and Automation (ICRA), London, England, UK, 2023. (to appear) [pdf], [bib]
A. Theurkauf, Q. H. Ho, R. Ilyes, N. Ahmed, and M. Lahijanian, "Chance-Constrained Motion Planning with Event-Triggered Estimation," IEEE Conference on Robotics and Automation (ICRA), London, England, UK, 2023. (to appear) [pdf], [bib]
G. Delimpaltadakis, M. Lahijanian, M. Mazo Jr., and L. Laurenti, "Interval Markov Decision Processes with Continuous Action-Spaces," International Conference on Hybrid Systems: Computation and Control (HSCC), ACM, San Antonio, TX, USA, 2023. (to appear) [pdf], [bib]
R. Mazouz, K. Muvvala, A. Ratheesh Babu, L. Laurenti, and M. Lahijanian, "Safety Guarantees for Neural Network Dynamic Systems via Stochastic Barrier Functions," Advances in Neural Information Processing Systems (NeurIPS), New Orleans, Louisiana, USA, 2022. [pdf], [bib]
G. O. Berger, M. Narasimhamurthy, K. Watanabe, M. Lahijanian, and S. Sankaranarayanan, "An Algorithm for Learning Switched Linear Dynamics from Data," Advances in Neural Information Processing Systems (NeurIPS), New Orleans, Louisiana, USA, 2022. [pdf], [bib]
Q. H. Ho, R. B. Ilyes, Z. Sunberg, and M. Lahijanian, "Automaton-Guided Control Synthesis for Signal Temporal Logic Specifications," IEEE Conference on Decision and Control (CDC), Dec. 2022. [pdf], [bib]
A. Theurkauf, N. Ahmed, and M. Lahijanian, "Pareto Optimal Strategies for Event Triggered Estimation," IEEE Conference on Decision and Control (CDC), Dec. 2022. [pdf], [bib]
J. Kottinger, S. Almagor, and M. Lahijanian, "Conflict-based Search for Multi-Robot Motion Planning with Kinodynamic Constraints," Int'l Conference on Intelligent Robots and Systems (IROS), Oct. 2022. [pdf], [bib]
J. Kottinger, S. Almagor, and M. Lahijanian, "Conflict-Based Search for Explainable Multi-Agent Path Finding," Int'l Conference on Automated Planning and Scheduling (ICAPS), Jun. 2022. [pdf], [bib]
I. Nazmy, H. Harris, M. Lahijanian, and H. Schaub "Shielded Deep Reinforcement Learning for Multi-Sensor Spacecraft Imaging," American Control Conference (ACC), IEEE, Jun. 2022. [pdf], [bib]
K. Muvvala, P. Amorese, and M. Lahijanian, "Let's Collaborate: Regret-based Reactive Synthesis for Robotic Manipulation," IEEE Conference on Robotics and Automation (ICRA), May 2022. [pdf], [bib]
Q.H. Ho, Z. Sunberg, and M. Lahijanian, "Gaussian Belief Trees for Chance Constrained Asymptotically Optimal Motion Planning," IEEE Conference on Robotics and Automation (ICRA), May 2022. [pdf], [bib]
J. Jackson, L. Laurenti, E. Frew, and M. Lahijanian, "Synergistic Offline-Online Control Synthesis via Local Gaussian Process Regression," IEEE Conf. on Decision and Control (CDC), Dec. 2021. [pdf], [bib]
K. Watanabe, N. Renninger, S. Sankaranarayanan, and M. Lahijanian, "Probabilistic Specification Learning for Planning with Safety Constraints," IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Prague, Czech Republic, Sep. 2021. [pdf], [bib]
A. Wells, Z. Kingston, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, "Finite Horizon Synthesis for Probabilistic Manipulation Domains," IEEE Int. Conf. on Robotics and Automation (ICRA), Xi'an, China, May. 2021. [pdf], [bib]
J. Kottinger, S. Almagor, and M. Lahijanian, "MAPS-X: Explainable Multi-Robot Motion Planning via Segmentation," IEEE Int. Conf. on Robotics and Automation (ICRA), Xi'an, China, May. 2021. [pdf], [bib]
J. Jackson, L. Laurenti, E. Frew, and M. Lahijanian, "Strategy Synthesis for Partially-known Switched Stochastic Systems," Hybrid Systems: Computation and Control (HSCC), ACM, May 2021. [pdf], [bib]
A. Wells, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi "LTLf Synthesis on Probabilistic Systems," International Symposium on Games, Automata, Logics, and Formal Verification (GandALF), Sep. 2020. [pdf], [bib]
J. Jackson, L. Laurenti, E. Frew, and M. Lahijanian, "Safety verification of unknown dynamical systems via Gaussian process regression," IEEE Conf. on Decision and Control (CDC), Dec. 2020. [pdf], [bib]
S. Almagor and M. Lahijanian, "Explainable Multi Agent Path Finding," Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS), pp. 34–42, May 2020. [pdf], [bib]
M. Wu, T. Louw, M. Lahijanian, W. Ruan, X. Huang, N. Merat, and M. Kwiatkowska, "Gaze-based Intention Anticipation over Driving Manoeuvres in Semi-Autonomous Vehicles," IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Oct. 2019. [pdf], [bib]
F. Eiras, M. Lahijanian, and M. Kwiatkowska, "Correct-by-Construction Advanced Driver Assistance Systems based on a Cognitive Architecture,"IEEE Connected and Automated Vehicles Symposium (IEEE CAV), IEEE, Sep. 2019. [pdf], [bib]
N. Cauchi, L. Laurenti, M. Lahijanian, A. Abate, M. Kwiatkowska, and L. Cardelli, "Efficiency through Uncertainty: Scalable Formal Synthesis for Stochastic Hybrid Systems," Hybrid Systems: Computation and Control (HSCC), ACM, Apr. 2019. [pdf], [bib]
E. Pairet, J. D. Hernandez, M. Lahijanian, and Marc Carreras, "Uncertainty-based Online Mapping and Motion Planning for Marine Robotics Guidance," IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2367-2374, Oct. 2018. [pdf], [bib]
K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, "Reactive Synthesis for Finite Tasks Under Resource Constraints," IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pp. 5326-5332, Vancouver, BC, Sep. 2017. [pdf], [bib]
E. M. Hahn, V. Hashemi, H. Hermanns, M. Lahijanian, and A. Turrini, “Multi-objective Robust Strategy Synthesis for Interval Markov Decision Processes,” Int. Conf. on Quantitative Evaluation of SysTems (QEST), pp. 207-223, Berlin, Germany, Sep. 2017. [pdf], [bib]
M. Lahijanian and M. Kwiatkowska, “Specification Revision for Markov Decision Processes with Optimal Trade-off,” IEEE Conf. on Decision and Control (CDC), pp. 7411-7418, Las Vegas, NV, Dec. 2016. [pdf], [bib]
M. Lahijanian and M. Kwiatkowska, “Social Trust: a Major Challenge for the Future of Autonomous Systems,” AAAI Fall Symposium on Cross-Disciplinary Challenges for Autonomous Systems (AAAI FSS), pp. 189-193, Nov. 2016. [pdf], [bib]
K. He, M. Lahijanian, L. E. Kavraki, M. Y. Vardi, "Towards Manipulation Planning with Temporal Logic Specifications," IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 346-352, Seattle, WA, May. 2015. [pdf], [bib]
M. Lahijanian, S. Almagor, D. Fried, L. E. Kavraki, M. Y. Vardi, "This Time the Robot Settles for a Cost: A Quantitative Approach to Temporal Logic Planning with Partial Satisfaction," AAAI Conf. on Artificial Intelligence (AAAI), pp. 3664-3671, Jan. 2015. [pdf], [bib]
R. Luna, M. Lahijanian, L. E. Kavraki, M. Moll, "Asymptotically Optimal Stochastic Motion Planning with Temporal Goals," Workshop on the Algorithmic Foundations of Robotics (WAFR), pp. 335-352, Aug. 2014. [pdf], [bib]
R. Luna, M. Lahijanian, L. E. Kavraki, M. Moll, "Optimal and Efficient Stochastic Motion Planning in Partially-Known Environments," AAAI Conference on Artificial Intelligence, (AAAI), pp. 2549-2555, Quebec City, Canada, July, 2014. [pdf], [bib]
M. Lahijanian, L. E. Kavraki, M. Y. Vardi, “A Sampling-Based Strategy Planner for Nondeterministic Hybrid Systems,” IEEE International Conference on Robotics and Automation (ICRA), pp. 3005-3012, May, 2014. [pdf], [bib]
R. Luna, M. Lahijanian, L. E. Kavraki, M. Moll, “Fast Stochastic Motion Planning with Optimality Guarantees Using Local Policy Reconfiguration,” IEEE International Conference on Robotics and Automation (ICRA), pp. 3013-3019, May, 2014. [pdf], [bib]
M. R. Maley, M. Lahijanian, L. E. Kavraki, H. Kress-Gazit, and M. Y. Vardi, “Iterative Temporal Motion Planning for Hybrid Systems in Partially Unknown Environments,” ACM Int. Conf. on Hybrid Systems: Computational and Control (HSCC), pp. 353-362, Philadelphia, PA, 2013. [pdf], [bib]
M. Lahijanian, S.B. Andersson, and C. Belta, “Approximate Markovian Abstractions for Linear Stochastic Systems,” IEEE Conference on Decision and Control (CDC), pp. 5966-5971, Maui, HI, 2012. [pdf], [bib]
X. C. Ding, J. Wang, M. Lahijanian, I. Paschalidis, and C. Belta, "Temporal Logic Motion Control using Actor-Critic Methods," IEEE International Conference on Robotics and Automation (ICRA), pp. 4687-4692, St. Paul, MN, 2012. [pdf], [bib]
R. Moazzez Estanjini, X. C. Ding, M. Lahijanian, C. Belta, I. Paschalidis, “Least Squares Temporal Difference Actor-Critic Methods with Applications to Robot Motion Control,” IEEE Conference on Decision and Control (CDC), pp. 704-709, Orlando, FL, 2011. [pdf], [bib]
I. Cizelj, X. C. Ding, M. Lahijanian, A. Pinto, C. Belta, “Probabilistically Safe Vehicle Control in a Hostile Environment,” 18th IFAC World Congress, Milan, Italy. [pdf], [bib]
M. Lahijanian, S.B. Andersson, and C. Belta, “Control of Markov decision processes from PCTL specifications,” American Controls Conference (ACC), pp. 311-316, 2011. [pdf], [bib]
M. Lahijanian, J. Wasniewski, S.B. Andersson, and C. Belta, “Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees,” IEEE International Conference on Robotics and Automation (ICRA), pp. 3227-3232, 2010. [pdf], [bib]
M. Lahijanian, S.B. Andersson, and C. Belta, “A probabilistic approach for control of a stochastic system from LTL specifications,” IEEE Conference on Decision and Control (CDC), pp. 2236-2241, 2009. [pdf], [bib]
M. Lahijanian, M. Kloetzer, S. Itani, C. Belta, and S.B. Andersson, “Automatic deployment of autonomous cars in a robotic urban-like environment (RULE),” IEEE International Conference on Robotics and Automation (ICRA), pp. 2055-2060, 2009. [pdf], [bib]