Publications

38 / 3,964 publications found.


  •  Elango, P., Vinod, A.P., Kitamura, K., Acikmese, B., Di Cairano, S., Weiss, A., "Continuous-Time Successive Convexification for Passively-Safe Spacecraft Rendezvous on a Near Rectilinear Halo Orbit", AIAA SciTech Forum 2026, January 2026.
    BibTeX TR2026-016 PDF
    • @inproceedings{Elango2026jan,
    • author = {Elango, Purnanand and Vinod, Abraham P. and Kitamura, Kenji and Acikmese, Behcet and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Continuous-Time Successive Convexification for Passively-Safe Spacecraft Rendezvous on a Near Rectilinear Halo Orbit}},
    • booktitle = {AIAA SciTech Forum 2026},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-016}
    • }
  •  Kamath, A., Vinod, A.P., Elango, P., Di Cairano, S., Weiss, A., "Robust Optimal Control for Autonomous Precision Landing via Set-based Dynamic Programming", AIAA SciTech Forum, January 2026.
    BibTeX TR2026-015 PDF
    • @inproceedings{Kamath2026jan,
    • author = {Kamath, Abhinav and Vinod, Abraham P. and Elango, Purnanand and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Robust Optimal Control for Autonomous Precision Landing via Set-based Dynamic Programming}},
    • booktitle = {AIAA SciTech Forum},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-015}
    • }
  •  Kento, T., Elango, P., Vinod, A.P., Di Cairano, S., Weiss, A., "Powered Descent Decision Making: A Reachability-Steering Approach", AIAA SciTech Forum, January 2026.
    BibTeX TR2026-014 PDF
    • @inproceedings{Kento2026jan,
    • author = {Kento, Tomita and Elango, Purnanand and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Powered Descent Decision Making: A Reachability-Steering Approach}},
    • booktitle = {AIAA SciTech Forum},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-014}
    • }
  •  Vinod, A.P., Kamath, A., Weiss, A., Di Cairano, S., "Set-based lossless convexification for a class of robust nonlinear optimal control problems", IEEE Conference on Decision and Control (CDC), December 2025.
    BibTeX TR2025-160 PDF
    • @inproceedings{Vinod2025dec,
    • author = {Vinod, Abraham P. and Kamath, Abhinav and Weiss, Avishai and {Di Cairano}, Stefano},
    • title = {{Set-based lossless convexification for a class of robust nonlinear optimal control problems}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-160}
    • }
  •  Hutchinson, S., Vinod, A.P., Germain, F.G., Di Cairano, S., Laughman, C.R., Chakrabarty, A., "Quantile-SMPC for Grid-Interactive Buildings with Multivariate Temporal Fusion Transformers", Advances in Neural Information Processing Systems (NeurIPS) Workshop on UrbanAI, December 2025.
    BibTeX TR2026-001 PDF
    • @inproceedings{Hutchinson2025dec,
    • author = {{{Hutchinson, Spencer and Vinod, Abraham P. and Germain, François G and Di Cairano, Stefano and Laughman, Christopher R. and Chakrabarty, Ankush}}},
    • title = {{{Quantile-SMPC for Grid-Interactive Buildings with Multivariate Temporal Fusion Transformers}}},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS) Workshop on UrbanAI},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-001}
    • }
  •  Kamath, A.G., Vinod, A.P., Elango, P., Di Cairano, S., Weiss, A., "Set-based Optimal, Robust, and Resilient Control with Applications to Autonomous Precision Landing", arXiv, December 2025.
    BibTeX arXiv
    • @article{Kamath2025dec,
    • author = {Kamath, Abhinav G. and Vinod, Abraham P. and Elango, Purnanand and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Set-based Optimal, Robust, and Resilient Control with Applications to Autonomous Precision Landing}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2512.07043}
    • }
  •  Chakrabarty, A., Wichern, G., Deshpande, V.M., Vinod, A.P., Berntorp, K., Laughman, C.R., "Meta-Learning for Physically-Constrained Neural System Identification", Neurocomputing, DOI: 10.1016/​j.neucom.2025.130945, Vol. 651, pp. 130945, October 2025.
    BibTeX TR2025-159 PDF
    • @article{Chakrabarty2025nov,
    • author = {Chakrabarty, Ankush and Wichern, Gordon and Deshpande, Vedang M. and Vinod, Abraham P. and Berntorp, Karl and Laughman, Christopher R.},
    • title = {{Meta-Learning for Physically-Constrained Neural System Identification}},
    • journal = {Neurocomputing},
    • year = 2025,
    • volume = 651,
    • pages = 130945,
    • month = nov,
    • doi = {10.1016/j.neucom.2025.130945},
    • issn = {0925-2312},
    • url = {https://www.merl.com/publications/TR2025-159}
    • }
  •  Karumanchi, S., Rokaha, B., Schperberg, A., Vinod, A.P., "Energy-constrained multi-robot exploration for autonomous map building", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS60139.2025.11247332, October 2025, pp. 9154-9161.
    BibTeX TR2025-131 PDF
    • @inproceedings{Karumanchi2025oct,
    • author = {Karumanchi, Sambhu and Rokaha, Bhagawan and Schperberg, Alexander and Vinod, Abraham P.},
    • title = {{Energy-constrained multi-robot exploration for autonomous map building}},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2025,
    • pages = {9154--9161},
    • month = oct,
    • doi = {10.1109/IROS60139.2025.11247332},
    • url = {https://www.merl.com/publications/TR2025-131}
    • }
  •  Tang, W.-T., Vinod, A.P., Germain, F.G., Paulson, J.A., Laughman, C.R., Chakrabarty, A., "AI-Driven Scenario Discovery: Diffusion Models and Multi-Armed Bandits for Building Control Validation", Energy and Buildings, DOI: 10.1016/​j.enbuild.2025.116207, September 2025.
    BibTeX TR2025-132 PDF
    • @article{Tang2025sep,
    • author = {Tang, Wei-Ting and Vinod, Abraham P. and Germain, François G and Paulson, Joel A. and Laughman, Christopher R. and Chakrabarty, Ankush},
    • title = {{AI-Driven Scenario Discovery: Diffusion Models and Multi-Armed Bandits for Building Control Validation}},
    • journal = {Energy and Buildings},
    • year = 2025,
    • month = sep,
    • doi = {10.1016/j.enbuild.2025.116207},
    • url = {https://www.merl.com/publications/TR2025-132}
    • }
  •  Deshpande, V.M., Vinod, A.P., "Dynamic Sensor Scheduling for Spatio-temporal Monitoring of Water Bodies", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA53793.2025.11151521, August 2025, pp. 673-680.
    BibTeX TR2025-117 PDF
    • @inproceedings{Deshpande2025aug,
    • author = {Deshpande, Vedang M. and Vinod, Abraham P.},
    • title = {{Dynamic Sensor Scheduling for Spatio-temporal Monitoring of Water Bodies}},
    • booktitle = {2025 IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2025,
    • pages = {673--680},
    • month = aug,
    • doi = {10.1109/CCTA53793.2025.11151521},
    • url = {https://www.merl.com/publications/TR2025-117}
    • }
  •  Vinod, A.P., "pycvxset: A Python package for convex set manipulation", American Control Conference (ACC), DOI: 10.23919/​ACC63710.2025.11107986, June 2025, pp. 2515-2521.
    BibTeX TR2025-086 PDF Software
    • @inproceedings{Vinod2025jun,
    • author = {Vinod, Abraham P.},
    • title = {{pycvxset: A Python package for convex set manipulation}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2025,
    • pages = {2515--2521},
    • month = jun,
    • doi = {10.23919/ACC63710.2025.11107986},
    • url = {https://www.merl.com/publications/TR2025-086}
    • }
  •  Elango, P., Vinod, A.P., Kitamura, K., Açıkmeşe, B., Di Cairano, S., Weiss, A., "Successive Convexification for Passively-Safe Spacecraft Rendezvous on Near Rectilinear Halo Orbit", arXiv, May 2025.
    BibTeX arXiv
    • @article{Elango2025may,
    • author = {Elango, Purnanand and Vinod, Abraham P. and Kitamura, Kenji and Açıkmeşe, Behcet and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Successive Convexification for Passively-Safe Spacecraft Rendezvous on Near Rectilinear Halo Orbit}},
    • journal = {arXiv},
    • year = 2025,
    • month = may,
    • url = {https://arxiv.org/abs/2505.17251}
    • }
  •  Vinod, A.P., Weiss, A., Di Cairano, S., "Projection-free computation of robust controllable sets with constrained zonotopes", Automatica, DOI: 10.1016/​j.automatica.2025.112211, Vol. 175, pp. 112211, March 2025.
    BibTeX TR2025-023 PDF Video
    • @article{Vinod2025mar,
    • author = {Vinod, Abraham P. and Weiss, Avishai and Di Cairano, Stefano},
    • title = {{Projection-free computation of robust controllable sets with constrained zonotopes}},
    • journal = {Automatica},
    • year = 2025,
    • volume = 175,
    • pages = 112211,
    • month = mar,
    • doi = {10.1016/j.automatica.2025.112211},
    • issn = {0005-1098},
    • url = {https://www.merl.com/publications/TR2025-023}
    • }
  •  Vinod, A.P., Safaoui, S., Summers, T., Yoshikawa, N., Di Cairano, S., "Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3433229, Vol. 32, No. 6, pp. 2492-2499, January 2025.
    BibTeX TR2024-136 PDF
    • @article{Vinod2025jan,
    • author = {Vinod, Abraham P. and Safaoui, Sleiman and Summers, Tyler and Yoshikawa, Nobuyuki and {Di Cairano}, Stefano},
    • title = {{Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2025,
    • volume = 32,
    • number = 6,
    • pages = {2492--2499},
    • month = jan,
    • doi = {10.1109/TCST.2024.3433229},
    • url = {https://www.merl.com/publications/TR2024-136}
    • }
  •  Lin, X., Nayak, S., Di Cairano, S., Vinod, A.P., "Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots", arXiv, January 2025.
    BibTeX arXiv
    • @article{Lin2025jan,
    • author = {Lin, Xiaoshan and Nayak, Siddharth and {Di Cairano}, Stefano and Vinod, Abraham P.},
    • title = {{Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots}},
    • journal = {arXiv},
    • year = 2025,
    • month = jan,
    • url = {https://arxiv.org/abs/2501.08222}
    • }
  •  Chakrabarty, A., Wichern, G., Deshpande, V.M., Vinod, A.P., Berntorp, K., Laughman, C.R., "Meta-Learning for Physically-Constrained Neural System Identification", arXiv, January 2025.
    BibTeX arXiv
    • @article{Chakrabarty2025jan,
    • author = {Chakrabarty, Ankush and Wichern, Gordon and Deshpande, Vedang M. and Vinod, Abraham P. and Berntorp, Karl and Laughman, Christopher R.},
    • title = {{Meta-Learning for Physically-Constrained Neural System Identification}},
    • journal = {arXiv},
    • year = 2025,
    • month = jan,
    • url = {https://arxiv.org/abs/2501.06167v1}
    • }
  •  Elango, P., Vinod, A.P., Di Cairano, S., Weiss, A., "Continuous-Time Successive Convexification for Passively-Safe Six-Degree-of-Freedom Powered-Descent Guidance", AIAA SciTech, DOI: 10.2514/​6.2025-1894, January 2025, pp. 1-13.
    BibTeX TR2025-008 PDF
    • @inproceedings{Elango2025jan,
    • author = {Elango, Purnanand and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Continuous-Time Successive Convexification for Passively-Safe Six-Degree-of-Freedom Powered-Descent Guidance}},
    • booktitle = {AIAA SCITECH 2025 Forum},
    • year = 2025,
    • pages = {1--13},
    • month = jan,
    • publisher = {AIAA},
    • doi = {10.2514/6.2025-1894},
    • url = {https://www.merl.com/publications/TR2025-008}
    • }
  •  Vinod, A.P., Weiss, A., Di Cairano, S., "Inscribing and separating an ellipsoid and a constrained zonotope: Applications in stochastic control and centering", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10886451, December 2024, pp. 8125-8131.
    BibTeX TR2024-173 PDF
    • @inproceedings{Vinod2024dec,
    • author = {Vinod, Abraham P. and Weiss, Avishai and {Di Cairano}, Stefano},
    • title = {{Inscribing and separating an ellipsoid and a constrained zonotope: Applications in stochastic control and centering}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • pages = {8125--8131},
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10886451},
    • url = {https://www.merl.com/publications/TR2024-173}
    • }
  •  Lishkova, Y., Vinod, A.P., Di Cairano, S., Weiss, A., "Divert-feasible lunar landing under navigational uncertainty", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC56724.2024.10886637, December 2024, pp. 7497-7503.
    BibTeX TR2024-174 PDF
    • @inproceedings{Lishkova2024dec,
    • author = {Lishkova, Yana and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Divert-feasible lunar landing under navigational uncertainty}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2024,
    • pages = {7497--7503},
    • month = dec,
    • doi = {10.1109/CDC56724.2024.10886637},
    • url = {https://www.merl.com/publications/TR2024-174}
    • }
  •  Li, S.H.Q., Vinod, A.P., "Markov Potential Game with Final-time Reach-Avoid Objective", arXiv, October 2024.
    BibTeX arXiv
    • @article{Li2024oct2,
    • author = {Li, Sarah H. Q. and Vinod, Abraham P.},
    • title = {{Markov Potential Game with Final-time Reach-Avoid Objective}},
    • journal = {arXiv},
    • year = 2024,
    • month = oct,
    • url = {https://arxiv.org/abs/2410.17690}
    • }
  •  Safaoui, S., Vinod, A.P., Chakrabarty, A., Quirynen, R., Yoshikawa, N., Di Cairano, S., "Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning", IEEE Transactions on Robotics, DOI: 10.1109/​TRO.2024.3387010, Vol. 40, pp. 2529-2542, July 2024.
    BibTeX TR2024-048 PDF Video
    • @article{Safaoui2024jul,
    • author = {Safaoui, Sleiman and Vinod, Abraham P. and Chakrabarty, Ankush and Quirynen, Rien and Yoshikawa, Nobuyuki and {Di Cairano}, Stefano},
    • title = {{Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning}},
    • journal = {IEEE Transactions on Robotics},
    • year = 2024,
    • volume = 40,
    • pages = {2529--2542},
    • month = jul,
    • doi = {10.1109/TRO.2024.3387010},
    • url = {https://www.merl.com/publications/TR2024-048}
    • }
  •  Huang, Y., Greiff, M., Vinod, A.P., Di Cairano, S., "Leveraging Computational Fluid Dynamics in UAV Motion Planning", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644753, July 2024, pp. 375-381.
    BibTeX TR2024-050 PDF Video
    • @inproceedings{Huang2024jul,
    • author = {Huang, Yunshen and Greiff, Marcus and Vinod, Abraham P. and {Di Cairano}, Stefano},
    • title = {{Leveraging Computational Fluid Dynamics in UAV Motion Planning}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {375--381},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644753},
    • url = {https://www.merl.com/publications/TR2024-050}
    • }
  •  Kim, T., Vinod, A.P., Di Cairano, S., "Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644642, July 2024, pp. 587-593.
    BibTeX TR2024-092 PDF
    • @inproceedings{Kim2024jul,
    • author = {Kim, Taewan and Vinod, Abraham P. and {Di Cairano}, Stefano},
    • title = {{Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {587--593},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644642},
    • url = {https://www.merl.com/publications/TR2024-092}
    • }
  •  Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., Okura, Y., "Parametrized Maneuvers Governor for Decision Making in Automated Driving" in Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities., June 2024.
    BibTeX TR2024-086 PDF
    • @incollection{DiCairano2024jun,
    • author = {{{Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl and Okura, Yuichi}}},
    • title = {{{Parametrized Maneuvers Governor for Decision Making in Automated Driving}}},
    • booktitle = {Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities.},
    • year = 2024,
    • month = jun,
    • isbn = {978-3-031-82681-8},
    • url = {https://www.merl.com/publications/TR2024-086}
    • }
  •  Nayak, S., Greiff, M., Raghunathan, A., Di Cairano, S., Vinod, A.P., "Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644645, June 2024, pp. 299-305.
    BibTeX TR2024-078 PDF
    • @inproceedings{Nayak2024jun,
    • author = {Nayak, Siddharth and Greiff, Marcus and Raghunathan, Arvind and {Di Cairano}, Stefano and Vinod, Abraham P.},
    • title = {{Data-driven monitoring with mobile sensors and charging stations using multi-arm bandits and coordinated motion planners}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {299--305},
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644645},
    • url = {https://www.merl.com/publications/TR2024-078}
    • }