Code repositories for most papers below are available at https://github.com/gtfactslab.

- C. Santoyo, G. Nilsson, S. Coogan, "Resource aware pricing for electric vehicle charging,"
*Automatica*, vol. 148, 2023. (pdf) - C. Santoyo, G. Nilsson, S. Coogan, "Sensitivity to user mischaracterizations in electric vehicle charging,"
*Systems & Control Letters*, vol. 171, 2023. (pdf) - M. Cao, M. Bloch, S. Coogan, "Efficient learning of hyperrectangular invariant sets using Gaussian processes,"
*IEEE Open Journal of Control Systems*, vol. 1, pp. 223–236, 2022. (pdf) - K. Hobbs, M. Mote, M. Abate, S. Coogan, E. Feron, "Run time assurance for safety-critical systems: an introduction to safety filtering approaches for complex control systems,"
*IEEE Control Systems Magazine*, 2022, accepted. (pdf) - T. X. Lin, S. Coogan, D. Lofaro, D. Sofge, F. Zhang, "Monocular vision-based localization and pose estimation with a nudged particle filter and ellipsoidal confidence tubes,"
*Unmanned Systems*, 2022. (pdf) - C. Banks, S. Coogan, M. Egerstedt, "LTL cross entropy optimization for quadcopter task orchestration,"
*Cyber-Physical Systems*, 2022. (pdf) - J. Jiang, Y. Zhao, S. Coogan, "Safe learning for uncertainty-aware planning via interval MDP abstraction,"
*IEEE Control Systems Letters*, 2022. (pdf) - M. Dutreix, S. Coogan, "Abstraction-based synthesis for stochastic systems with omega-regular objectives,"
*Nonlinear Analysis: Hybrid Systems*, vol. 45, 2022. (pdf) - M. Abate, S. Coogan, "Robustly forward invariant sets for mixed-monotone systems,"
*IEEE Transactions on Automatic Control*, vol. 67, pp. 4947–4954, 2022. (pdf) - E. Squires, P. Pierpauli, R. Konda, S. Coogan, M. Egerstedt, "Composition of safety constraints for fixed-wing collision avoidance amidst limited communications,"
*Journal of Guidance, Control, and Dynamics*, vol. 45, pp. 714–725, 2022. (pdf) - E. Ling, L. Zheng, L. Ratliff, S. Coogan, "Koopman operator applications in signalized traffic systems,"
*IEEE Transactions on Intelligent Transportation Systems*, vol. 23, pp. 3214–3225, 2022. (pdf) - M. Abate, S. Coogan, "Decomposition functions for interconnected mixed monotone systems,"
*IEEE Control Systems Letters*, pp. 2120–2125, 2021. (pdf) - M. Srinivasan, M. Abate, G. Nilsson, S. Coogan, "Extent-compatible control barrier functions,"
*Systems and Control Letters*, vol. 150, 2021. (pdf) - P. Pierpaoli, A. Li, M. Srinivasan, X. Cai, S. Coogan, M. Egerstedt, "A sequential composition framework for coordinating multi-robot behaviors,"
*IEEE Transactions on Robotics*, vol. 37, pp. 864–876, 2021. (pdf) - C. Santoyo, M. Dutreix, S. Coogan, "A barrier function approach to finite-time stochastic system verification and control,"
*Automatica*, vol. 125, Mar. 2021. (pdf) - M. Srinivasan, S. Coogan, "Control of mobile robots using barrier functions under temporal logic specifications,"
*IEEE Transactions on Robotics*, vol. 37, pp. 363–374, April 2021. (pdf) - M. Dutreix, S. Coogan, "Specification-guided verification and abstraction refinement of mixed-monotone stochastic systems,"
*IEEE Transactions on Automatic Control*, vol. 66, pp. 2975–2990, 2021. (pdf) - D. Lazar, S. Coogan, R. Pedarsani, "Routing for traffic networks with mixed autonomy,"
*IEEE Transactions on Automatic Control*, vol. 66, pp. 2664–2676, Jun. 2021. (pdf) - Q. Wei, R. Pedarsani, S. Coogan, "Mixed autonomy in ride-sharing networks,"
*IEEE Transactions on Network Control Systems*, vol. 7, pp. 1940–1950, 2020. (pdf) - M. Abate, W. Stuckey, L. Lerner, E. Feron, S. Coogan, "Memory-loss resilient controller design for temporal logic constraints,"
*Cyber-Physical Systems*, 2020. (pdf) - M. Abate, M. Dutreix, S. Coogan, "Tight decomposition functions for continuous-time mixed-monotone systems with disturbances,"
*IEEE Control Systems Letters*, vol. 5, pp. 139–144, Jan. 2021. (pdf) - R. Konda, A. Ames, S. Coogan, "Characterizing safety: minimal barrier functions from scalar comparison systems,"
*IEEE Control Systems Letters*, vol. 5, pp. 532–528, April 2021. (pdf, arXiv extended version) - M. Thitsa, M. Clouatre, E. Verriest, S. Coogan, C. Martin, "A numerically stable dynamic mode decomposition algorithm for nearly defective systems,"
*IEEE Control Systems Letters*, vol. 5, pp. 67–72, Jan. 2021. (pdf) - S. Coogan, "A contractive approach to separable Lyapunov functions for monotone systems,"
*Automatica*, vol. 106, pp. 349–357, Aug. 2019. (pdf) - S. Coogan, M. Margaliot, "Approximating the steady-state periodic solutions of contractive systems,"
*IEEE Transactions on Automatic Control*, pp. 847–853, Feb. 2019. (pdf) - P.-J. Meyer, S. Coogan, M. Arcak, "Sampled-data reachability analysis using sensitivity and mixed-monotonicity,"
*IEEE Control Systems Letters*, pp. 761–766, 2018. (pdf) - S. Coogan, M. Arcak, C. Belta, "Formal methods for control of traffic flow: Automated control synthesis from finite state transition models,"
*IEEE Control Systems Magazine*, vol. 37, pp. 109–128, Apr 2017. (pdf) - S. Coogan, E. Kim, G. Gomes, M. Arcak, P. Varaiya, "Offset optimization in signalized traffic networks via semidefinite relaxation,"
*Transportation Research Part B: Methodological*, vol. 100, pp. 82–92, June 2017. (pdf) - S. Coogan, C. Flores, P. Varaiya, "Traffic predictive control from low-rank structure,"
*Transportation Research Part B: Methodological*, vol. 97, pp. 1–22, Mar. 2017. (pdf) - S. Coogan, M. Arcak, "Finite abstraction of mixed monotone systems with discrete and continuous inputs,"
*Nonlinear Analysis: Hybrid Systems*, vol. 23, pp. 254–271, Feb. 2017. (pdf) - S. Coogan, E. Gol, M. Arcak, C. Belta, "Traffic network control from temporal logic specifications,"
*IEEE Transactions on Control of Network Systems*, vol. 3, pp. 162–172, June 2016.**Outstanding Paper Award**. (pdf) - A. Muralidharan, S. Coogan, C. Flores, P. Varaiya, "Management of intersections with multi-modal high-resolution data,"
*Transportation Research Part C: Emerging Technologies*, vol. 68, pp. 101–112, July 2016. (pdf) - S. Coogan, M. Arcak, "Stability of traffic flow networks with a polytree topology,"
*Automatica*, vol. 66, pp. 246–253, April 2016. (pdf) - S. Coogan, M. Arcak, "A compartmental model for traffic networks and its dynamical behavior,"
*IEEE Transactions on Automatic Control*, vol. 60, pp. 2698–2703, Oct. 2015. (pdf, extended arXiv version) - S. Coogan, M. Arcak, "A dissipativity approach to safety verification for interconnected systems,"
*IEEE Transactions on Automatic Control*, vol. 60, pp. 1722–1727, June 2015. (pdf) - S. Coogan, M. Arcak, "A computational approach to synthesizing guards for hybrid systems,"
*Systems & Control Letters*, vol. 73, pp. 25–32, Nov. 2014. (pdf) - S. Coogan, M. Arcak, "Scaling the size of a formation using relative position feedback,"
*Automatica*, pp. 2677–2685, Oct. 2012. (pdf)

- S. Burden, S. Coogan, "On infinitesimal contraction analysis for hybrid systems,"
*IEEE Conference on Decision and Control*, pp. 1980–1985, 2022. (pdf) - A. Davydov, Saber Jafarpour, Matthew Abate, F. Bullo, S. Coogan, "Comparative analysis of interval reachability for robust implicit and feedforward neural networks,"
*IEEE Conference on Decision and Control*, pp. 2073–2078, 2022. (pdf) - C Santoyo, S. Coogan, "Probabilistic revenue analysis for electric vehicle charging,"
*Conference on Control Technology and Applications (CCTA)*, pp. 944–949, 2022. (pdf) - G. Nilsson, S. Coogan, "A compartmental dynamical network flow model for evacuation planning of cities,"
*Conference on Control Technology and Applications (CCTA)*, pp. 1005–1010, 2022. (pdf) - S. Jafarpour, A. Davydov, M. Abate, F. Bullo, S. Coogan, "Robust training and verification of implicit neural networks: a non-Euclidean contractive approach,"
*ICML workshop on Formal Verification of Machine Learning (WFVML 2022)*, 2022. (pdf) - Q. Wei, G. Nilsson, S. Coogan, "Safety verification for urban air mobility scheduling,"
*IFAC Conference on Networked Systems (NecSYS)*, pp. 306–311, 2022. (pdf) - S. Jafarpour, M. Abate, A. Davydov, F. Bullo, S. Coogan, "Robustness certificates for implicit neural networks: a mixed monotone contractive approach,"
*Learning For Decision and Control (L4DC)*, 2022. Accepted as oral presentation (less than 10 percent of submitted papers) (pdf) - C. Llanes, M. Abate, S. Coogan, "Safety from fast, in-the-loop reachability with application to UAVs,"
*International Conference on Cyber-Physical Systems (ICCPS)*, pp. 127–136, 2022. (pdf) - S. Jafarpour, S. Coogan, "Resilience of input metering in dynamic flow networks,"
*American Control Conference*, pp. 126–131, 2022. (pdf) - M. Cao, M. Bloch, S. Coogan, "Estimating high probability reachable sets using Gaussian processes,"
*IEEE Conference on Decision and Control*, pp. 3881–3886, 2021. (pdf) - C. Santoyo, G. Nilsson, S. Coogan, "Sensitivity of electric vehicle charging facility occupancy to users' impatience,"
*IEEE Conference on Decision and Control*, 2021. (pdf) - C. Banks, A. Bono, S. Coogan, "Physical human-UAV interaction with commercial drones using admittance control,"
*Modeling, Estimation and Control Conference*, 2021. (pdf) - M. Cao, G. Nilsson, S. Coogan, "On the impact of the capacity drop phenomenon for freeway traffic flow control,"
*IEEE Conference on Control Technology and Applications*, 2021. (pdf) - C Santoyo, S. Coogan, "Pricing parameter design for electric vehicle charging,"
*IEEE Conference on Control Technology and Applications*, 2021. (pdf) - E. Squires, R. Konda, P. Pierpaoli, S. Coogan, M. Egerstedt, "Safety with limited range sensing constraints for fixed wing aircraft,"
*International Conference on Robotics and Automation*, pp. 9065–9071, 2021. (pdf) - Q. Wei, G. Nilsson, S. Coogan, "Scheduling of urban air mobility services with limited landing capacity and uncertain travel times,"
*American Control Conference*, pp. 1677–1682, 2021. (pdf) - G. Nilsson, S. Coogan, "Strong integral input-to-state stability in dynamical flow networks,"
*American Control Conference*, 2021. (pdf) - M. Abate, C. Klett, S. Coogan, E. Feron, "Pointwise-in-time analysis and non-quadratic Lyapunov functions for linear time-varying systems,"
*American Control Conference*, pp. 3541–3546, 2021. (pdf) - M. Abate, S. Coogan, "Improving the fidelity of mixed-monotone reachable set approximations via state transformations,"
*American Control Conference*, pp. 4674–4679, 2021. (pdf) - C. Klett, M. Abate, S. Coogan, E. Feron, "A numerical method to compute stability margins of switching linear systems,"
*American Control Conference*, pp. 861–866, 2021. (pdf) - M. Abate, M. Mote, E. Feron, S. Coogan, "Verification and runtime assurance for dynamical systems with uncertainty,"
*Hybrid Systems: Computation and Control (HSCC)*, 2021. (pdf) - C. Llanes, M. Abate, S. Coogan, "Safety from in-the-loop reachability for cyber-physical systems,"
*(extended abstract), Proceedings of the Workshop on Computation-Aware Algorithmic Design for Cyber-Physical Systems*, pp. 9–10, 2021. (pdf) - M. Abate, S. Coogan, "Enforcing safety at runtime for systems with disturbances,"
*IEEE Conference on Decision and Control*, pp. 2038–2043, 2020. (pdf) - M. Abate, S. Coogan, "Computing robustly forward invariant sets for mixed-monotone systems,"
*IEEE Conference on Decision and Control*, pp. 4553–4559, 2020. (pdf) - S. Coogan, "Mixed monotonicity for reachability and safety in dynamical systems,"
*IEEE Conference on Decision and Control*, pp. 5074–5085, 2020. (tutorial paper). (pdf) - T. Lin, S. Al-Abri, S. Coogan, F. Zhang, "A distributed scalar field mapping strategy for mobile robots,"
*International Conference on Intelligent Robots and Systems*, 2020. (pdf) - M. Srinivasan, A. Dabholkar, S. Coogan, P. Vela, "Synthesis of control barrier functions using a supervised machine learning approach,"
*International Conference on Intelligent Robots and Systems*, pp. 7139–7145, 2020. (pdf) - T. Lin, S. Coogan, D. Sofge, F. Zhang, "Set-based state estimation of mobile robots from coarse range measurements,"
*Conference on Control Technology and Applications*, pp. 404–409, 2020. (pdf) - C. Banks, S. Wilson, S. Coogan, M. Egerstedt, "Multi-agent task allocation using cross-entropy temporal logic optimization,"
*International Conference on Robotics and Automation (ICRA)*, pp. 7712–7718, 2020. (pdf) - C Santoyo, G Nilsson, S. Coogan, "Multi-level electric vehicle charging facilities with limited resources,"
*IFAC 2020 World Congress*, 2020. (pdf) - M. Srinivasan, C. Santoyo, S. Coogan, "Continuous reachability task transition using control barrier functions,"
*IFAC 2020 World Congress*, 2020. (pdf) - M. Dutreix, C. Santoyo, M. Abate, S. Coogan, "Interval-valued Markov chain abstraction of stochastic systems using barrier functions,"
*American Control Conference*, pp. 3583–3588, 2020. (pdf) - M. Abate, C. Klett, S. Coogan, E. Feron, "Lyapunov differential equation hierarchy and polynomial Lyapunov functions for switched linear systems,"
*American Control Conference*, pp. 5322–5327, 2020. (pdf) - C. Klett, M. Abate, Y. Yoon, S. Coogan, E. Feron, "Bounding the state covariance matrix for switched linear systems with noise,"
*American Control Conference*, pp. 2876–2881, 2020. (pdf) - D. Lazar, S. Coogan, R. Pedarsani, "Optimal tolling for heterogeneous traffic networks with mixed autonomy,"
*IEEE Conference on Decision and Control*, pp. 4103–4108, 2019. (pdf) - M. Srinivasan, N.-s. Hyun, S. Coogan, "Weighted polar finite time control barrier functions with applications to multi-robot systems,"
*IEEE Conference on Decision and Control*, pp. 7031–7036, 2019. (pdf) - M. Abate, E. Feron, S. Coogan, "Monitor-based runtime assurance for temporal logic specifications,"
*IEEE Conference on Decision and Control*, pp. 1997–2002, 2019. (pdf) - C. Banks, K. Slovak, S. Coogan, M. Egerstedt, "Specification-based maneuvering of quadcopters through hoops,"
*IEEE/RSJ International Conference on Intelligent Robots and Systems*, 2019. (pdf) - R. Konda, E. Squires, P. Pierpaoli, M. Egerstedt, S. Coogan, "Provably-safe autonomous navigation of traffic circles,"
*IEEE Conference on Control Technology and Applications*, pp. 876–881, 2019. (pdf) - C. Santoyo, M. Dutreix, S. Coogan, "Verification and control for finite-time safety of stochastic systems via barrier functions,"
*IEEE Conference on Control Technology and Applications*, pp. 712–717, 2019. (pdf) - Q. Wei, J. Rodriguez, R. Pedarsani, S. Coogan, "Ride-sharing networks with mixed autonomy,"
*American Control Conference*, pp. 3303–3308, 2019. (pdf) - A. Ames, S. Coogan, M. Egerstedt, G. Notomista, K. Sreenath, P. Tabuada, "Control barrier functions: Theory and applications,"
*European Control Conference*, pp. 3420–3431, 2019. (pdf) - M. Dutreix, S. Coogan, "Satisfiability bounds for omega-regular properties in interval-valued Markov chains,"
*IEEE Conference on Decision and Control*, pp. 1047–1052, 2018. (pdf) - M. Srinivasan, S. Coogan, "Control of multi-agent systems with finite time control barrier certificates and temporal logic,"
*IEEE Conference on Decision and Control*, pp. 1991–1996, 2018. (pdf) - A. Awan, S. Coogan, M. Zamani, "Compositional abstraction for interconnected systems over Riemannian manifolds: a dissipativity approach,"
*IEEE Conference on Decision and Control*, pp. 3783–3788, 2018. (pdf) - E. Ling, L. Ratliff, S. Coogan, "Koopman operator approach for instability detection and mitigation in signalized traffic,"
*IEEE International Conference on Intelligent Transportation Systems*, pp. 1297–1302, 2018. (pdf) - Z. Amini, S. Coogan, C. Flores, A. Skabardonis, P. Varaiya, "Optimizing offsets in signalized traffic networks: a case study,"
*IEEE Conference on Control Technology and Applications*, pp. 614–619, 2018.**Best Student Paper Award**. (pdf) - P. Pandit, S. Coogan, "Discount-based pricing and capacity planning for EV charging under stochastic demand,"
*American Control Conference*, pp. 6273–6278, 2018. (pdf) - D. Lazar, S. Coogan, R. Pedarsani, "The price of anarchy for transportation networks with mixed autonomy,"
*American Control Conference*, pp. 6359–6365, 2018. (pdf) - M. Dutreix, S. Coogan, "Efficient verification for stochastic mixed monotone systems,"
*International Conference on Cyber-Physical Systems (ICCPS)*, pp. 150–161, 2018. . (pdf) - M. Dutreix, S. Coogan, "Quantile forecasts for traffic predictive control,"
*IEEE Conference on Decision and Control*, pp. 5666–5671, 2017. (pdf) - D. Lazar, S. Coogan, R. Pedarsani, "Capacity modeling and routing for traffic networks with mixed autonomy,"
*IEEE Conference on Decision and Control*, pp. 5678–5683, 2017. (pdf) - M. Margaliot, S. Coogan, "Approximating periodic trajectories of contractive systems,"
*IEEE Conference on Decision and Control*, pp. 583–588, 2017. (pdf) - S. Coogan, "Separability of Lyapunov functions for contractive monotone systems,"
*IEEE Conference on Decision and Control*, pp. 2184–2189, 2016. (pdf) - S. Coogan, A. Kurzhanskiy, M. Arcak, "Mixed monotonicity of partial first-in-first-out traffic flow models,"
*IEEE Conference on Decision and Control*, pp. 7611–7616, 2016. (pdf) - S. Coogan, M. Arcak, "Symmetric monotone embedding of traffic flow networks with first-in-first-out dynamics,"
*Proceedings of the 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS)*, pp. 654–659, 2016. (pdf) - S. Coogan, M. Arcak, C. Belta, "Finite state abstraction and formal methods for traffic flow networks,"
*American Control Conference*, pp. 864–879, 2016. (pdf) - S. Coogan, C. Flores, P. Varaiya, "Automatic generation of timing plans with high-resolution data,"
*ITS America*, 2016. (pdf) - S. Coogan, G. Gomes, E. Kim, M. Arcak, P. Varaiya, "Offset optimization for a network of signalized intersections via semidefinite relaxation,"
*IEEE Conference on Decision and Control*, pp. 2187–2192, 2015. (pdf) - S. Coogan, E. Aydin, M. Arcak, C. Belta, "Controlling a network of signalized intersections from temporal logical specifications,"
*Proceedings of the 2015 American Control Conference*, pp. 3919–3924, 2015. (pdf) - S. Coogan, M. Arcak, "Efficient finite abstraction of mixed monotone systems,"
*Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control*, pp. 58–67, 2015.**Best student paper award**. (pdf) - D. Sadigh, E. Kim, S. Coogan, S. Sastry, S. Seshia, "A learning based approach to control synthesis of Markov decision processes for linear temporal logic specifications,"
*IEEE Conference on Decision and Control*, pp. 1091–1096, 2014. (pdf) - S. Coogan, M. Arcak, "Freeway traffic control from linear temporal logic specifications,"
*Proceedings of the 5th ACM/IEEE International Conference on Cyber-Physical Systems*, pp. 36–47, 2014. (pdf) - S. Coogan, M. Arcak, "Dynamical properties of a compartmental model for traffic networks,"
*Proceedings of the 2014 American Control Conference*, pp. 2511–2516, 2014. (pdf) - S. Coogan, M. Arcak, "Verifying safety of interconnected passive systems using SOS programming,"
*Proceedings of the 52nd IEEE Conference on Decision and Control*, pp. 5951–5956, 2013. (pdf) - S. Coogan, L. Ratliff, D. Calderone, C. Tomlin, S. Sastry, "Energy management via pricing in LQ dynamic games,"
*Proceedings of the 2013 American Control Conference*, pp. 443–448, 2013. (pdf) - S. Coogan, M. Arcak, "Guard synthesis for safety of hybrid systems using sum of squares programming,"
*Proceedings of the 51st IEEE Conference on Decision and Control*, pp. 6138–6143, 2012. (pdf) - L. Ratliff, S. Coogan, D. Calderone, S. Sastry, "Pricing in linear-quadratic dynamic games,"
*Fiftieth Annual Allerton Conference on Communication, Control, and Computing*, pp. 1798–1805, 2012. (pdf) - S. Coogan, M. Arcak, "Formation control with size scaling using relative displacement feedback,"
*Proceedings of the 2012 American Control Conference*, pp. 3877–3882, 2012. (pdf) - B. Bole, S. Coogan, C. Cubero-Ponce, D. Edwards, R. Melsert, D. Taylor, "Energy management control of a hybrid electric vehicle with two-mode electrically variable transmission,"
*EVS26 International Battery, Hybrid and Fuel Cell Electric Vehicle Symposium*, 2012. (pdf) - S. Coogan, M. Arcak, M. Egerstedt, "Scaling the size of a multiagent formation via distributed feedback,"
*Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference*, pp. 994–999, 2011. (pdf)

- S. Coogan, M. Arcak, "Contraction-based observers using non-Euclidean norms with an application to traffic networks," 2017. (pdf)
- S. Coogan, M. Arcak, A. Kurzhanskiy, "On the mixed monotonicity of FIFO traffic flow models," 2015. (pdf)
- S. Coogan, M. Arcak, "A note on norm-based Lyapunov functions via contraction analysis," 2013. (pdf)