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Publications

Peer-reviewed Journal Publications

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), 2019. (accepted)

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. (in-print) 

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)

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) 

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. 

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.

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. 

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.

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. 

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.

Peer-reviewed Conference Publications

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. (accepted)

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. (to appear)

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.

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. 

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. 

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.

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.

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. 

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.

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.

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.

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

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.

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. 

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. 

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.

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.

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.

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.

M. Lahijanian, S.B. Andersson, and C. Belta, “Control of Markov decision processes from PCTL specifications,” American Controls Conference (ACC), pp. 311-316, 2011.

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.

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.

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.