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

Articles in Journals or Magazines

  1. C. Santoyo, G. Nilsson, S. Coogan, "Resource aware pricing for electric vehicle charging," Automatica, vol. 148, 2023. (pdf)
  2. C. Santoyo, G. Nilsson, S. Coogan, "Sensitivity to user mischaracterizations in electric vehicle charging," Systems & Control Letters, vol. 171, 2023. (pdf)
  3. 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)
  4. 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)
  5. 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)
  6. C. Banks, S. Coogan, M. Egerstedt, "LTL cross entropy optimization for quadcopter task orchestration," Cyber-Physical Systems, 2022. (pdf)
  7. J. Jiang, Y. Zhao, S. Coogan, "Safe learning for uncertainty-aware planning via interval MDP abstraction," IEEE Control Systems Letters, 2022. (pdf)
  8. M. Dutreix, S. Coogan, "Abstraction-based synthesis for stochastic systems with omega-regular objectives," Nonlinear Analysis: Hybrid Systems, vol. 45, 2022. (pdf)
  9. M. Abate, S. Coogan, "Robustly forward invariant sets for mixed-monotone systems," IEEE Transactions on Automatic Control, vol. 67, pp. 4947–4954, 2022. (pdf)
  10. 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)
  11. 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)
  12. M. Abate, S. Coogan, "Decomposition functions for interconnected mixed monotone systems," IEEE Control Systems Letters, pp. 2120–2125, 2021. (pdf)
  13. M. Srinivasan, M. Abate, G. Nilsson, S. Coogan, "Extent-compatible control barrier functions," Systems and Control Letters, vol. 150, 2021. (pdf)
  14. 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)
  15. C. Santoyo, M. Dutreix, S. Coogan, "A barrier function approach to finite-time stochastic system verification and control," Automatica, vol. 125, Mar. 2021. (pdf)
  16. 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)
  17. 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)
  18. 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)
  19. 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)
  20. M. Abate, W. Stuckey, L. Lerner, E. Feron, S. Coogan, "Memory-loss resilient controller design for temporal logic constraints," Cyber-Physical Systems, 2020. (pdf)
  21. 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)
  22. 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)
  23. 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)
  24. S. Coogan, "A contractive approach to separable Lyapunov functions for monotone systems," Automatica, vol. 106, pp. 349–357, Aug. 2019. (pdf)
  25. S. Coogan, M. Margaliot, "Approximating the steady-state periodic solutions of contractive systems," IEEE Transactions on Automatic Control, pp. 847–853, Feb. 2019. (pdf)
  26. 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)
  27. 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)
  28. 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)
  29. 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)
  30. 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)
  31. 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)
  32. 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)
  33. S. Coogan, M. Arcak, "Stability of traffic flow networks with a polytree topology," Automatica, vol. 66, pp. 246–253, April 2016. (pdf)
  34. 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)
  35. 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)
  36. S. Coogan, M. Arcak, "A computational approach to synthesizing guards for hybrid systems," Systems & Control Letters, vol. 73, pp. 25–32, Nov. 2014. (pdf)
  37. S. Coogan, M. Arcak, "Scaling the size of a formation using relative position feedback," Automatica, pp. 2677–2685, Oct. 2012. (pdf)

Articles in Conference Proceedings

  1. S. Burden, S. Coogan, "On infinitesimal contraction analysis for hybrid systems," IEEE Conference on Decision and Control, pp. 1980–1985, 2022. (pdf)
  2. 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)
  3. C Santoyo, S. Coogan, "Probabilistic revenue analysis for electric vehicle charging," Conference on Control Technology and Applications (CCTA), pp. 944–949, 2022. (pdf)
  4. 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)
  5. 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)
  6. Q. Wei, G. Nilsson, S. Coogan, "Safety verification for urban air mobility scheduling," IFAC Conference on Networked Systems (NecSYS), pp. 306–311, 2022. (pdf)
  7. 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)
  8. 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)
  9. S. Jafarpour, S. Coogan, "Resilience of input metering in dynamic flow networks," American Control Conference, pp. 126–131, 2022. (pdf)
  10. 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)
  11. C. Santoyo, G. Nilsson, S. Coogan, "Sensitivity of electric vehicle charging facility occupancy to users' impatience," IEEE Conference on Decision and Control, 2021. (pdf)
  12. C. Banks, A. Bono, S. Coogan, "Physical human-UAV interaction with commercial drones using admittance control," Modeling, Estimation and Control Conference, 2021. (pdf)
  13. 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)
  14. C Santoyo, S. Coogan, "Pricing parameter design for electric vehicle charging," IEEE Conference on Control Technology and Applications, 2021. (pdf)
  15. 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)
  16. 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)
  17. G. Nilsson, S. Coogan, "Strong integral input-to-state stability in dynamical flow networks," American Control Conference, 2021. (pdf)
  18. 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)
  19. M. Abate, S. Coogan, "Improving the fidelity of mixed-monotone reachable set approximations via state transformations," American Control Conference, pp. 4674–4679, 2021. (pdf)
  20. 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)
  21. 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)
  22. 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)
  23. M. Abate, S. Coogan, "Enforcing safety at runtime for systems with disturbances," IEEE Conference on Decision and Control, pp. 2038–2043, 2020. (pdf)
  24. M. Abate, S. Coogan, "Computing robustly forward invariant sets for mixed-monotone systems," IEEE Conference on Decision and Control, pp. 4553–4559, 2020. (pdf)
  25. S. Coogan, "Mixed monotonicity for reachability and safety in dynamical systems," IEEE Conference on Decision and Control, pp. 5074–5085, 2020. (tutorial paper). (pdf)
  26. 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)
  27. 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)
  28. 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)
  29. 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)
  30. C Santoyo, G Nilsson, S. Coogan, "Multi-level electric vehicle charging facilities with limited resources," IFAC 2020 World Congress, 2020. (pdf)
  31. M. Srinivasan, C. Santoyo, S. Coogan, "Continuous reachability task transition using control barrier functions," IFAC 2020 World Congress, 2020. (pdf)
  32. 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)
  33. 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)
  34. 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)
  35. 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)
  36. 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)
  37. 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)
  38. 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)
  39. 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)
  40. 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)
  41. Q. Wei, J. Rodriguez, R. Pedarsani, S. Coogan, "Ride-sharing networks with mixed autonomy," American Control Conference, pp. 3303–3308, 2019. (pdf)
  42. 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)
  43. 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)
  44. 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)
  45. 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)
  46. 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)
  47. 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)
  48. P. Pandit, S. Coogan, "Discount-based pricing and capacity planning for EV charging under stochastic demand," American Control Conference, pp. 6273–6278, 2018. (pdf)
  49. D. Lazar, S. Coogan, R. Pedarsani, "The price of anarchy for transportation networks with mixed autonomy," American Control Conference, pp. 6359–6365, 2018. (pdf)
  50. M. Dutreix, S. Coogan, "Efficient verification for stochastic mixed monotone systems," International Conference on Cyber-Physical Systems (ICCPS), pp. 150–161, 2018. . (pdf)
  51. M. Dutreix, S. Coogan, "Quantile forecasts for traffic predictive control," IEEE Conference on Decision and Control, pp. 5666–5671, 2017. (pdf)
  52. 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)
  53. M. Margaliot, S. Coogan, "Approximating periodic trajectories of contractive systems," IEEE Conference on Decision and Control, pp. 583–588, 2017. (pdf)
  54. S. Coogan, "Separability of Lyapunov functions for contractive monotone systems," IEEE Conference on Decision and Control, pp. 2184–2189, 2016. (pdf)
  55. 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)
  56. 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)
  57. S. Coogan, M. Arcak, C. Belta, "Finite state abstraction and formal methods for traffic flow networks," American Control Conference, pp. 864–879, 2016. (pdf)
  58. S. Coogan, C. Flores, P. Varaiya, "Automatic generation of timing plans with high-resolution data," ITS America, 2016. (pdf)
  59. 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)
  60. 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)
  61. 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)
  62. 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)
  63. 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)
  64. 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)
  65. 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)
  66. 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)
  67. 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)
  68. 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)
  69. 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)
  70. 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)
  71. 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)

Technical Notes

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