Publications

2021

  1. K. Watanabe, N. Renninger, S. Sankaranarayanan, and M. Lahijanian, “Probabilistic Specification Learning for Planning with Safety Constraints,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021. (accepted)

  2. K. Watanabe, N. Renninger, S. Sankaranarayanan, and M. Lahijanian, “Task Learning with Preferences for Planning withSafety Constraints,” in Workshop on Accessibility of Robot Programming and the Work of the Future, 2021.

  3. K. Muvvala and M. Lahijanian, “Reactive Synthesis for Human-aware Robotic Manipulation using Regret Games,” in RSS Workshop on Robotics for People: Perspectives on Interaction, Learning and Safety, 2021.

  4. J. Jackson, L. Laurenti, E. Frew, and M. Lahijanian, “Towards Safe, Abstraction-based Online Learning and Synthesis for Unknown Systems,” in Workshop on Integrating Planning and Learning, 2021.

  5. A. M. Wells, Z. Kingston, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Finite Horizon Synthesis for Probabilistic Manipulation Domains,” in Proceedings of the IEEE International Conference on Robotics and Automation, Xi’an, China, 2021.

  6. J. Kottinger, S. Almagor, and M. Lahijanian, “MAPS-X: Explainable Multi-Robot Motion Planning via Segmentation,” in Proceedings of the IEEE International Conference on Robotics and Automation, Xi’an, China, 2021.

  7. J. Jackson, L. Laurenti, E. Frew, and M. Lahijanian, “Strategy synthesis for partially-known switched stochastic systems,” in Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control, 2021, pp. 1–11.

2020

  1. J. Jackson, L. Laurenti, E. Frew, and M. Lahijanian, “Towards Data-driven Verification of Unknown Dynamical Systems,” in Workshop on Robust Autonomy: Tools for Safety in Real-World Uncertain Environments, 2020.

  2. J. Kottinger, S. Shaull Almagor, and M. Lahijanian, “Explainable Multi-Agent Path Planning,” in Workshop on Explainable and Trustworthy Robot Decision Making for Scientific Data Collection, 2020.

  3. J. Jackson, L. Laurenti, E. Frew, and M. Lahijanian, “Safety verification of unknown dynamical systems via gaussian process regression,” in 2020 IEEE 59th Conference on Decision and Control (CDC), 2020.

  4. S. Almagor and M. Lahijanian, “Explainable Multi Agent Path Finding,” in Proceedings of the 19th International Conference on Autonomous Agents and MultiAgent Systems, Richland, SC, 2020, pp. 34–42.

  5. L. Laurenti, M. Lahijanian, A. Abate, L. Cardelli, and M. Kwiatkowska, “Formal and efficient synthesis for continuous-time linear stochastic hybrid processes,” IEEE Transactions on Automatic Control, vol. 66, no. 1, pp. 17–32, 2020.

  6. A. M. Wells, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “LTLf Synthesis on Probabilistic Systems,” in International Symposium on Games, Automata, Logics, and Formal Verification (GandALF), 2020.

2019

  1. F. Eiras and M. Lahijanian, “Towards Provably Correct Driver Assistance Systems through Stochastic Cognitive Modeling,” in Robotics: Science and Systems Workshop on Robust Autonomy: Tools for Safety in Real-World Uncertain Environments, 2019.

  2. N. Cauchi, L. Laurenti, M. Lahijanian, A. Abate, M. Kwiatkowska, and L. Cardelli, “Efficiency through Uncertainty: Scalable Formal Synthesis for Stochastic Hybrid Systems,” in Proceedings of the 2019 22nd ACM International Conference on Hybrid Systems: Computation and Control, Montreal, QC, Canada, 2019.

  3. 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, vol. 29, no. 4, pp. 1–31, 2019.

  4. F. Eiras, M. Lahijanian, and M. Kwiatkowska, “Correct-by-Construction Advanced Driver Assistance Systems based on a Cognitive Architecture,” in 2019 IEEE 2nd Connected and Automated Vehicles Symposium, 2019, pp. 1–7.

  5. M. Wu et al., “Gaze-based Intention Anticipation over Driving Manoeuvres in Semi-Autonomous Vehicles,” in Proceedings of the IEEE International Conference on Intelligent Robots and Systems, 2019, pp. 6210–6216.

2018

  1. H. Kress-Gazit, M. Lahijanian, and V. Raman, “Synthesis for robots: Guarantees and feedback for robot behavior,” Annual Review of Control, Robotics, and Autonomous Systems, vol. 1, pp. 211–236, 2018.

  2. K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Automated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis,” IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 285–292, 2018.

  3. M. Lahijanian et al., “Resource-performance tradeoff analysis for mobile robots,” IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 1840–1847, 2018.

  4. S. Edelkamp, M. Lahijanian, D. Magazzeni, and E. Plaku, “Integrating temporal reasoning and Sampling-Based motion planning for multigoal problems with dynamics and time windows,” IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 3473–3480, 2018.

  5. È. Pairet, J. D. Hernández, M. Lahijanian, and M. Carreras, “Uncertainty-based online mapping and motion planning for marine robotics guidance,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, pp. 2367–2374.

2017

  1. K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Reactive Synthesis for Finite Tasks Under Resource Constraints,” in Int. Conf. on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, 2017, pp. 5326–5332.

2016

  1. M. Lahijanian and M. Kwiatkowska, “Specification Revision for Markov Decision Processes with Optimal Trade-off,” in Proceedings of the IEEE 55th Conference on Decision and Control, 2016, pp. 7411–7418.

  2. M. Lahijanian, M. R. Maly, D. Fried, L. E. Kavraki, H. Kress-Gazit, and M. Y. Vardi, “Iterative Temporal Planning in Uncertain Environments With Partial Satisfaction Guarantees,” IEEE Transactions on Robotics, vol. 32, no. 3, pp. 538–599, May 2016.

  3. M. Lahijanian and M. Kwiatkowska, “Social Trust: a Major Challenge for the Future of Autonomous Systems,” in AAAI Fall Symposium on Cross-Disciplinary Challenges for Autonomous Systems, 2016.

2015

  1. J. Wang, X. C. Ding, M. Lahijanian, I. C. Paschalidis, and C. Belta, “Temporal logic motion control using actor-critic methods,” International Journal of Robotics Research, vol. 34, no. 10, pp. 1329–1344, Aug. 2015.

  2. M. Lahijanian, S. B. Andersson, and 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.

  3. K. He, M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “Towards Manipulation Planning with Temporal Logic Specifications,” in Proceedings of the IEEE International Conference on Robotics and Automation, Seattle, WA, 2015, pp. 346–352.

  4. M. Lahijanian, S. Almagor, D. Fried, L. E. Kavraki, and M. Y. Vardi, “This Time the Robot Settles for a Cost: A Quantitative Approach to Temporal Logic Planning with Partial Satisfaction,” in Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence, Austin, TX, 2015, pp. 3664–3671.

2014

  1. R. Luna, M. Lahijanian, M. Moll, and L. E. Kavraki, “Optimal and Efficient Stochastic Motion Planning in Partially-Known Environments,” in The Twenty-Eighth AAAI Conference on Artificial Intelligence, Quebec City, Canada, 2014, pp. 2549–2555.

  2. M. Lahijanian, L. E. Kavraki, and M. Y. Vardi, “A Sampling-Based Strategy Planner for Nondeterministic Hybrid Systems,” in IEEE Conference on Robotics and Automation, Hong Kong, China, 2014, pp. 3005–3012.

  3. R. Luna, M. Lahijanian, M. Moll, and L. E. Kavraki, “Fast Stochastic Motion Planning with Optimality Guarantees using Local Policy Reconfiguration,” in IEEE Conference on Robotics and Automation, Hong Kong, China, 2014, pp. 3013–3019.

2013

  1. M. R. Maly, M. Lahijanian, L. E. Kavraki, H. Kress-Gazit, and M. Y. Vardi, “Iterative Temporal Motion Planning for Hybrid Systems in Partially Unknown Environments,” in International Conference on Hybrid Systems: Computation and Control, Philadelphia, PA, USA, 2013, pp. 353–362.

2012

  1. M. Lahijanian, S. B. Andersson, and C. Belta, “Approximate Markovian Abstractions for Linear Stochastic Systems,” in Proceedings of the IEEE Conference on Decision and Control, 2012, pp. 5966–5971.

  2. X. C. Ding, J. Wang, M. Lahijanian, I. C. Paschalidis, and C. Belta, “Temporal Logic Motion Control using Actor-Critic Methods,” in Proceedings of the IEEE International Conference on Robotics and Automation, Saint Paul, MN, 2012, pp. 4687–4692.

  3. 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.

2011

  1. I. Cizelj, X. C. D. Ding, M. Lahijanian, A. Pinto, and C. Belta, “Probabilistically safe vehicle control in a hostile environment,” in IFAC Proceedings Volumes, 2011, vol. 44, no. 1, pp. 11803–11808.

  2. M. Lahijanian, S. B. Andersson, and C. Belta, “Control of Markov decision processes from PCTL specifications,” in Proceedings of the 2011 American Control Conference, 2011, pp. 311–316.

  3. R. Moazzez Estanjini, X. C. Ding, M. Lahijanian, J. Wang, C. A. Belta, and I. C. Paschalidis, “Least squares temporal difference actor-critic methods with applications to robot motion control,” in Proceedings of the IEEE Conference on Decision and Control, 2011, pp. 704–709.

2010

  1. M. Lahijanian, J. Wasniewski, S. B. Andersson, and C. Belta, “Motion planning and control from temporal logic specifications with probabilistic satisfaction guarantees,” in International Conference on Robotics and Automation, Anchorage, Alaska, 2010, pp. 1050–4729.

2009

  1. M. Lahijanian, M. Kloetzer, S. Itani, C. Belta, and S. B. Andersson, “Automatic deployment of autonomous cars in a robotic urban-like environment (rule),” in IEEE International Conference on Robotics and Automation, 2009, pp. 2055–2060.

  2. M. Lahijanian, S. B. Andersson, and C. Belta, “A probabilistic approach for control of a stochastic system from LTL specifications,” in Proceedings of the IEEE Conference on Decision and Control, 2009, pp. 2236–2241.

2008

  1. S. B. Andersson, D. Hristu-Varsakelis, M. Lahijanian, and others, “Observers in language-based control,” Communications in Information & Systems, vol. 8, no. 2, pp. 85–106, 2008.