Publications

2026

  • CHUTNI: Compensated Holonomic Uneven Terrain Isolator.
    By Giuseppe Sutera, Francesco Cancelliere, Aniket Datar, Cedric Thomas Sebastien Hollande, Kartik Virmani, Anuj Pokhrel, Dario Calogero Guastella, Giovanni Muscato, Mark Yim, and Xuesu Xiao.
    In 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
  • Computed tomography- and magnetic resonance imaging–visible, patient-specific canine head phantom via 3-dimensional anatomy printing for neurosurgical training and biopsy planning: a proof of concept.
    By Robb M. Kessel, Akshaya Nidhi Bhati, Yoshihiko Yu, Jack N. Roney, Rajnish Gupta, Nduka M. Amankulor, Wilfried Mai, Mallesham Dasari, Rahul Mangharam, and Wojciech K. Panek.
    In American Journal of Veterinary Research, pp. 1–10, 2026.
  • AI Coaching for Accelerating Human Skill Development with Reinforcement Learning.
    By Wei Wang, Enlin Gu, Antonio Loquercio, Haimin Hu, and Rahul Mangharam.
    In Conference on Robot Learning (CoRL), 2026.
  • AD-MPCC: Adaptive Differentiable Model Predictive Contouring Control for Autonomous Racing.
    By Nam T. Nguyen, Binh Nguyen, Ahmad Amine, Thanh Vo-Duy, Rahul Mangharam, and Truong X. Nghiem.
    In 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
  • Digital Twin of the Philadelphia’s Roosevelt Boulevard: Microsimulation Based on Real-Life Traffic.
    By Helen Loeb, Jaime Hernandez, Rajnish Gupta, Ramon Diaz, Xiaoxia Dong, Rahul Mangharam, and Erick Guerra.
    In Transportation Research Record: Journal of the Transportation Research Board, vol. 2680, no. 8, pp. 560–571, 2026.
  • Failure-Aware Iterative Learning of State-Control Invariant Sets.
    By Ahmad Amine, Nick-Marios T. Kokolakis, Ugo Rosolia, Truong X. Nghiem, and Rahul Mangharam.
    In 2026 IEEE 65th Conference on Decision and Control (CDC), 2026.
  • Toward Single-Step MPPI via Differentiable Predictive Control.
    By Viet-Anh Le, Renukanandan Tumu, and Rahul Mangharam.
    In 2026 IEEE 65th Conference on Decision and Control (CDC), 2026.
  • Nonplanar Model Predictive Control for Autonomous Vehicles with Recursive Sparse Gaussian Process Dynamics.
    By Ahmad Amine, Kabir Puri, Viet-Anh Le, and Rahul Mangharam.
    In 2026 IEEE Intelligent Vehicles Symposium (IV), pp. 2088–2093, 2026.
  • AdaptNC: Adaptive Nonconformity Scores for Conformal Prediction under Distribution Shift.
    By Renukanandan Tumu, Aditya Singh, and Rahul Mangharam.
    In Advances in Neural Information Processing Systems (NeurIPS), 2026.

    Earlier version presented at the ICLR 2026 Workshop on Principled Design for Trustworthy AI

  • STL-SVPIO: Signal Temporal Logic guided Stein Variational Path Integral Optimization.
    By Hongrui Zheng, Zirui Zang, Ahmad Amine, Cristian-Ioan Vasile, and Rahul Mangharam.
    In 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
  • SIT-LMPC: Safe Information-Theoretic Learning Model Predictive Control for Iterative Tasks.
    By Zirui Zang, Ahmad Amine, Nick-Marios T. Kokolakis, Truong X. Nghiem, Ugo Rosolia, and Rahul Mangharam.
    In IEEE Robotics and Automation Letters, vol. 11, no. 1, pp. 986–993, 2026.
  • A Hybrid Learning-to-Optimize Framework for Mixed-Integer Quadratic Programming.
    By Viet-Anh Le, Mu Xie, and Rahul Mangharam.
    In Proceedings of the 8th Annual Learning for Dynamics and Control Conference (L4DC), vol. 331, pp. 1055–1069, 2026.
  • Multiagent Social Influence: Modeling Persuasion in Contested Social Networks.
    By Renukanandan Tumu, Cristian-Ioan Vasile, Victor M. Preciado, and Rahul Mangharam.
    In 2026 American Control Conference (ACC), 2026.
  • Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap.
    By Jianye Xu, Johannes Betz, Armin Mokhtarian, Archak Mittal, Mengchi Cai, Rahul Mangharam, Omar M. Shehata, Catherine M. Elias, Jan-Nico Zaech, Patrick Scheffe, Felix Jahncke, Sangeet Sankaramangalam Ulhas, Kaj Munhoz Arfvidsson, and Bassam Alrifaee.
    In IEEE Intelligent Transportation Systems Magazine, vol. 18, no. 5, pp. 6–20, 2026.

    • Workshop papers

  • Level-Aware AI Coaching for Human Skill Development.
    By Wei Wang, Enlin Gu, Antonio Loquercio, Haimin Hu, and Rahul Mangharam.
    In IROS 2026 Workshop: The 4th Workshop on Nonverbal Cues for Human-Robot Cooperative Intelligence (NoC), 2026.
  • Learning to Coach: A Hybrid Architecture for Human Skill Development.
    By Wei Wang, Enlin Gu, Antonio Loquercio, Haimin Hu, and Rahul Mangharam.
    In IROS 2026 Workshop: Hybrid Architectures for Embodied Autonomy: Bridging Learning, Planning, and Control (BLPC), 2026.
  • Learning to Coach: A Structured Framework for Human Skill Development.
    By Wei Wang, Enlin Gu, Antonio Loquercio, Haimin Hu, and Rahul Mangharam.
    In IROS 2026 Workshop: Embodied Neuro-Symbolic AI for Reliable and Safe Robotics (ReS-AI), 2026.
  • AI Coaching Beyond Assisted Performance: Toward Independent Human Skill Development.
    By Wei Wang, Enlin Gu, Antonio Loquercio, Haimin Hu, and Rahul Mangharam.
    In IROS 2026 Workshop: Full-Shift Robot Co-Workers: Active Perception and Interaction for Human Environments, 2026.
  • From Assistance to Skill Transfer in Tightly Coupled Human–AI Control.
    By Wei Wang, Enlin Gu, Antonio Loquercio, Haimin Hu, and Rahul Mangharam.
    In IROS 2026 Workshop: Tightly Coupled Physical Interaction and Collaboration in Multi-Robot Systems (PhysCollaBot), 2026.

    • Tutorials

    Learning-to-Optimize for Control in Robotics — IROS 2026

    Organizers: Rahul Mangharam, Viet-Anh Le, Yorie Nakahira, and Ahmad Amine.

    • Viet-Anh Le: Learning-to-Optimize and Its Applications in Control

    • Yorie Nakahira: Learning Safe and Adaptive Autonomy: Uncertainty, Language, and Human-AI Alignment

    • Ahmad Amine: Learning-to-Sample for Model Predictive Control

    2025

  • Zero-Shot Context Identification through Clustering and Foundation Modeling for Friction Estimation.
    By Renukanandan Tumu, Ahmad Amine, Lee Milburn, Rajnish Gupta, Urara Kono, and Rahul Mangharam.
    In ICRA 2025 Workshop on Foundation Models and Neuro-Symbolic AI for Robotics, 2025.
  • STLGame: Signal Temporal Logic Games in Adversarial Multi-Agent Systems.
    By Shuo Yang, Hongrui Zheng, Cristian-Ioan Vasile, George J. Pappas, and Rahul Mangharam.
    In Proceedings of the 7th Annual Learning for Dynamics and Control Conference (L4DC), vol. 283, pp. 1102–1114, 2025.
  • Adversarial Physics-Informed Machine Learning for Robust Optimal Safe Predefined-Time Stabilization: A Game-Theoretic Approach.
    By Nick-Marios T. Kokolakis, Shanqing Liu, Jerome Darbon, Rahul Mangharam, and George Em Karniadakis.
    In arXiv preprint arXiv:2511.15018, 2025.
  • A Bimanual Gesture Interface for ROS-Based Mobile Manipulators Using TinyML and Sensor Fusion.
    By Najeeb Ahmed Bhuiyan, M. Nasimul Huq, Sakib H. Chowdhury, and Rahul Mangharam.
    In arXiv preprint arXiv:2509.19521, 2025.

    • 2024

  • Conformal Off-Policy Prediction for Multi-Agent Systems.
    By Tom Kuipers, Renukanandan Tumu, Shuo Yang, Milad Kazemi, Rahul Mangharam, and Nicola Paoletti.
    In 2024 IEEE 63rd Conference on Decision and Control (CDC), pp. 1067–1074, 2024.
  • Bridging the Gap between Discrete Agent Strategies in Game Theory and Continuous Motion Planning in Dynamic Environments.
    By Hongrui Zheng, Zhijun Zhuang, Stephanie Wu, Shuo Yang, and Rahul Mangharam.
    In arXiv preprint arXiv:2403.11334, 2024.
  • Multi-Modal Conformal Prediction Regions by Optimizing Convex Shape Templates.
    By Renukanandan Tumu, Matthew Cleaveland, Rahul Mangharam, George J. Pappas, and Lars Lindemann.
    In Proceedings of the 6th Annual Learning for Dynamics and Control Conference (L4DC), vol. 242, pp. 1343–1356, 2024.
  • Learning Local Control Barrier Functions for Safety Control of Hybrid Systems.
    By Shuo Yang, Yu Chen, Xiang Yin, and Rahul Mangharam.
    In arXiv preprint arXiv:2401.14907, 2024.
  • Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions.
    By Shuo Yang, Mitchell Black, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, and Rahul Mangharam.
    In American Control Conference (ACC), 2024.
  • Learning adaptive safety for multi-agent systems.
    By Luigi Berducci, Shuo Yang, Rahul Mangharam, and Radu Grosu.
    In IEEE International Conference on Robotics and Automation (ICRA), 2024.

    • 2023

  • Multi-Agent Reinforcement Learning Guided by Signal Temporal Logic Specifications.
    By Jiangwei Wang, Shuo Yang, Ziyan An, Songyang Han, Zhili Zhang, Rahul Mangharam, Meiyi Ma, and Fei Miao.
    In arXiv preprint arXiv:2306.06808, 2023.
  • Local_INN: Implicit Map Representation and Localization with Invertible Neural Networks.
    By Zirui Zang, Hongrui Zheng, Johannes Betz, and Rahul Mangharam.
    In 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 11742–11748, 2023.
  • Towards Explainability in Modular Autonomous System Software.
    By Hongrui Zheng, Zirui Zang, Shuo Yang, and Rahul Mangharam.
    In 2023 IEEE Intelligent Vehicles Symposium (IV), pp. 1–8, 2023.
  • Differentiable Trajectory Generation for Car-like Robots with Interpolating Radial Basis Function Networks.
    By Hongrui Zheng and Rahul Mangharam.
    In arXiv preprint arXiv:2303.00981, 2023.
  • A benchmark comparison of imitation learning-based control policies for autonomous racing.
    By Xiatao Sun, Mingyan Zhou, Zhijun Zhuang, Shuo Yang, Johannes Betz, and Rahul Mangharam.
    In 2023 IEEE Intelligent Vehicles Symposium (IV), pp. 1–5, 2023.
  • You don’t know when i will arrive: Unpredictable controller synthesis for temporal logic tasks.
    By Yu Chen, Shuo Yang, Rahul Mangharam, and Xiang Yin.
    In IFAC-PapersOnLine, vol. 56, no. 2, pp. 3591–3597, 2023.
  • Physics constrained motion prediction with uncertainty quantification.
    By Renukanandan Tumu, Lars Lindemann, Truong X. Nghiem, and Rahul Mangharam.
    In IEEE Intelligent Vehicles Symposium (IV), no. 2023, pp. 1–8, 2023.
  • Drive Right: Promoting Autonomous Vehicle Education Through an Integrated Simulation Platform.
    By Zhijie Qiao, Helen Loeb, Venkata Gurrla, Matt Lebermann, Johannes Betz, and Rahul Mangharam.
    In arXiv preprint arXiv:2302.08613, 2023.
  • MEGA-DAgger: Imitation Learning with Multiple Imperfect Experts.
    By Xiatao Sun, Shuo Yang, and Rahul Mangharam.
    In arXiv preprint arXiv:2303.00638, 2023.
  • Ensemble Gaussian Processes for Adaptive Autonomous Driving on Multi-friction Surfaces.
    By Tomáš Nagy, Ahmad Amine, Truong X. Nghiem, Ugo Rosolia, Zirui Zang, and Rahul Mangharam.
    In IFAC-PapersOnLine, vol. 56, no. 2, pp. 494–500, 2023.
  • Safe Perception-Based Control under Stochastic Sensor Uncertainty using Conformal Prediction.
    By Shuo Yang, George J. Pappas, Rahul Mangharam, and Lars Lindemann.
    In 62nd IEEE Conference on Decision and Control (CDC), 2023.

    • 2022

  • Stress testing autonomous racing overtake maneuvers with rrt.
    By Stanley Bak, Johannes Betz, Abhinav Chawla, Hongrui Zheng, and Rahul Mangharam.
    In 2022 IEEE Intelligent Vehicles Symposium (IV), pp. 806–812, 2022.
  • Autonomous vehicles on the edge: A survey on autonomous vehicle racing.
    By Johannes Betz, Hongrui Zheng, Alexander Liniger, Ugo Rosolia, Phillip Karle, Madhur Behl, Venkat Krovi, and Rahul Mangharam.
    In IEEE Open Journal of Intelligent Transportation Systems, vol. 3, pp. 458–488, 2022.
  • Gradient-free multi-domain optimization for autonomous systems.
    By Hongrui Zheng, Johannes Betz, and Rahul Mangharam.
    In arXiv preprint arXiv:2202.13525, 2022.
  • Deriving spatial policies for overtaking maneuvers with autonomous vehicles.
    By Jayanth Bhargav, Johannes Betz, Hongrui Zehng, and Rahul Mangharam.
    In 2022 14th International Conference on COMmunication Systems & NETworkS (COMSNETS), pp. 859–864, 2022.
  • Winning the 3rd Japan Automotive AI Challenge-Autonomous Racing with the Autoware. Auto Open Source Software Stack.
    By Zirui Zang, Renukanandan Tumu, Johannes Betz, Hongrui Zheng, and Rahul Mangharam.
    In 2022 IEEE Intelligent Vehicles Symposium (IV), pp. 1757–1764, 2022.
  • Game-theoretic Objective Space Planning.
    By Hongrui Zheng, Zhijun Zhuang, Johannes Betz, and Rahul Mangharam.
    In arXiv preprint arXiv:2209.07758, 2022.
  • Combinatorial and Parametric Gradient-Free Optimization for Cyber-Physical System Design.
    By Hongrui Zheng, Johannes Betz, Arun Ramamurthy, Hyunjee Jin, and Rahul Mangharam.
    In 2022 IEEE Workshop on Design Automation for CPS and IoT (DESTION), pp. 34–41, 2022.
  • Accelerating Online Reinforcement Learning via Supervisory Safety Systems.
    By Benjamin Evans, Johannes Betz, Hongrui Zheng, Herman A Engelbrecht, Rahul Mangharam, and Hendrik W Jordaan.
    In arXiv preprint arXiv:2209.11082, 2022.
  • Teaching autonomous systems hands-on: Leveraging modular small-scale hardware in the robotics classroom.
    By Johannes Betz, Hongrui Zheng, Zirui Zang, Florian Sauerbeck, Krzysztof Walas, Velin Dimitrov, Madhur Behl, Rosa Zheng, Joydeep Biswas, Venkat Krovi, et al.
    In arXiv preprint arXiv:2209.11181, 2022.
  • Systems of stacking interlocking blocks. Jan-2022
  • Control of multi-drone fleets with temporal logic objectives. Aug-2022
  • Drive Right: Autonomous Vehicle Education through an Integrated Simulation Platform.
    By Zhijie Qiao, Helen Loeb, Venkata Gurrla, Matt Lebermann, Johannes Betz, and Rahul Mangharam.
    In SAE International Journal of Connected and Automated Vehicles, vol. 5, no. 12-05-04-0028, 2022.
  • Drive Right: Shaping Public’s Trust, Understanding, and Preference Towards Autonomous Vehicles Using a Virtual Reality Driving Simulator.
    By Zhijie Qiao, Xiatao Sun, Helen Loeb, and Rahul Mangharam.
    In arXiv preprint arXiv:2208.02939, 2022.
  • Differentiable safe controller design through control barrier functions.
    By Shuo Yang, Shaoru Chen, Victor M. Preciado, and Rahul Mangharam.
    In IEEE Control Systems Letters, vol. 7, pp. 1207–1212, 2022.
  • Teaching autonomous systems hands-on: Leveraging modular small-scale hardware in the robotics classroom.
    By Johannes Betz, Hongrui Zheng, Zirui Zang, Florian Sauerbeck, Krzysztof Walas, Velin Dimitrov, Madhur Behl, Rosa Zheng, Joydeep Biswas, Venkat Krovi, et al.
    In arXiv preprint arXiv:2209.11181, 2022.
  • Fiber Organization has Little Effect on Electrical Activation Patterns during Focal Arrhythmias in the Left Atrium.
    By Jiyue He, Arkady M Pertsov, Elizabeth M Cherry, Flavio H Fenton, Caroline H Roney, Steven A Niederer, Zirui Zang, and Rahul Mangharam.
    In IEEE Transactions on Biomedical Engineering, 2022.
  • Distributed Trajectory Planning for Multi-rotor UAVs with Signal Temporal Logic Objectives.
    By Yash Vardhan Pant, Houssam Abbas, and Rahul Mangharam.
    In 2022 IEEE Conference on Control Technology and Applications (CCTA), pp. 476–483, 2022.

    • 2021

  • Track based offline policy learning for overtaking maneuvers with autonomous racecars.
    By Jayanth Bhargav, Johannes Betz, Hongrui Zheng, and Rahul Mangharam.
    In arXiv preprint arXiv:2107.09782, 2021.
  • Learning-‘N-Flying: A Learning-Based, Decentralized Mission-Aware UAS Collision Avoidance Scheme.
    By Alëna Rodionova, Yash Vardhan Pant, Connor Kurtz, Kuk Jang, Houssam Abbas, and Rahul Mangharam.
    In ACM Transactions on Cyber-Physical Systems (TCPS), vol. 5, no. 4, pp. 1–26, 2021.
  • Patient-specific heart model towards atrial fibrillation.
    By Jiyue He, Arkady Pertsov, Sanjay Dixit, Katie Walsh, Eric Toolan, and Rahul Mangharam.
    In Proceedings of the ACM/IEEE 12th International Conference on Cyber-Physical Systems, pp. 33–43, 2021.
  • FADS: A framework for autonomous drone safety using temporal logic-based trajectory planning.
    By Yash Vardhan Pant, Max Z Li, Alena Rodionova, Rhudii A Quaye, Houssam Abbas, Megan S Ryerson, and Rahul Mangharam.
    In Transportation Research Part C: Emerging Technologies, vol. 130, p. 103275, 2021.

    • 2020

  • TUNERCAR: A Superoptimization Toolchain for Autonomous Racing.
    By Matthew O’Kelly, Hongrui Zheng, Joseph Auckley, Achin Jain, Kim Luong, and Rahul Mangharam.
    In Proceedings of the International Conference on Robotics and Automation (ICRA), 2020.
  • FormulaZero: Distributionally robust online adaptation via offline population synthesis.
    By Aman Sinha, Matthew O’Kelly, Hongrui Zheng, Rahul Mangharam, John Duchi, and Russ Tedrake.
    In International Conference on Machine Learning, pp. 8992–9004, 2020.
  • F1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning.
    By Matthew O’Kelly, Hongrui Zheng, Dhruv Karthik, and Rahul Mangharam.
    In NeurIPS 2019 Competition and Demonstration Track, pp. 77–89, 2020.
  • Methods, systems, and computer readable media involving a content coupled physical activity surface. May-2020
  • Teaching autonomous systems at 1/10th-scale: Design of the f1/10 racecar, simulators and curriculum.
    By Abhijeet Agnihotri, Matthew O’Kelly, Rahul Mangharam, and Houssam Abbas.
    In Proceedings of the 51st ACM Technical Symposium on Computer Science Education, pp. 657–663, 2020.
  • Data-driven switching modeling for mpc using regression trees and random forests.
    By Francesco Smarra, Giovanni Domenico Di Girolamo, Vittorio De Iuliis, Achin Jain, Rahul Mangharam, and Alessandro D’Innocenzo.
    In Nonlinear Analysis: Hybrid Systems, vol. 36, p. 100882, 2020.
  • Anytime computation and control for autonomous systems.
    By Yash Vardhan Pant, Houssam Abbas, Kartik Mohta, Rhudii A Quaye, Truong X. Nghiem, Joseph Devietti, and Rahul Mangharam.
    In IEEE Transactions on Control Systems Technology, vol. 29, no. 2, pp. 768–779, 2020.
  • Learning-to-fly: Learning-based collision avoidance for scalable urban air mobility.
    By Alëna Rodionova, Yash Vardhan Pant, Kuk Jang, Houssam Abbas, and Rahul Mangharam.
    In 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), pp. 1–8, 2020.
  • Learning-to-Fly RL: Reinforcement Learning-based Collision Avoidance for Scalable Urban Air Mobility.
    By Kuk Jang, Yash Vardhan Pant, Alëna Rodionova, and Rahul Mangharam.
    In 2020 AIAA/IEEE 39th Digital Avionics Systems Conference (DASC), pp. 1–10, 2020.
  • Towards automated comprehension and alignment of cardiac models at the system invariant level.
    By Samuel Huang, Madeline Diep, Kuk Jang, Elizabeth M Cherry, Flavio H Fenton, Rance Cleaveland, Mikael Lindvall, Rahul Mangharam, and Adam Porter.
    In CSBio’20: Proceedings of the Eleventh International Conference on Computational Systems-Biology and Bioinformatics, pp. 18–28, 2020.
  • How safe is safe enough? Automatic safety constraints boundary estimation for decision-making in automated vehicles.
    By Alëna Rodionova, Ignacio Alvarez, Maria Soledad Elli, Fabian Oboril, Johannes Quast, and Rahul Mangharam.
    In 2020 IEEE Intelligent Vehicles Symposium (IV), pp. 1457–1464, 2020.

    • 2019

  • Safe at any speed: A simulation-based test harness for autonomous vehicles.
    By Houssam Abbas, Matthew O’Kelly, Alena Rodionova, and Rahul Mangharam.
    In Cyber Physical Systems. Design, Modeling, and Evaluation: 7th International Workshop, CyPhy 2017, Seoul, South Korea, October 15-20, 2017, Revised Selected Papers 7, pp. 94–106, 2019.
  • Synthesizing stealthy reprogramming attacks on cardiac devices.
    By Nicola Paoletti, Zhihao Jiang, Md Ariful Islam, Houssam Abbas, Rahul Mangharam, Shan Lin, Zachary Gruber, and Scott A Smolka.
    In Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems, pp. 13–22, 2019.
  • F1/10: An open-source autonomous cyber-physical platform.
    By Matthew O’Kelly, Varundev Sukhil, Houssam Abbas, Jack Harkins, Chris Kao, Yash Vardhan Pant, Rahul Mangharam, Dipshil Agarwal, Madhur Behl, Paolo Burgio, et al.
    In arXiv preprint arXiv:1901.08567, 2019.
  • Robustness evaluation of computer-aided clinical trials for medical devices.
    By Kuk Jin Jang, Yash Vardhan Pant, Bo Zhang, James Weimer, and Rahul Mangharam.
    In Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems, pp. 163–173, 2019.
  • Temporal logic robustness for general signal classes.
    By Houssam Abbas, Yash Vardhan Pant, and Rahul Mangharam.
    In Proceedings of the 22nd ACM International Conference on Hybrid Systems: Computation and Control, pp. 45–56, 2019.
  • Fly-by-logic: A tool for unmanned aircraft system fleet planning using temporal logic.
    By Yash Vardhan Pant, Rhudii A Quaye, Houssam Abbas, Akarsh Varre, and Rahul Mangharam.
    In NASA Formal Methods: 11th International Symposium, NFM 2019, Houston, TX, USA, May 7–9, 2019, Proceedings 11, pp. 355–362, 2019.
  • Technical report: Anytime computation and control for autonomous systems.
    By Yash Vardhan Pant, Houssam Abbas, Kartik Mohta, Rhudii A Quaye, Truong X. Nghiem, Joseph Devietti, and Rahul Mangharam.
    2019.
  • Safe At Any Speed: A Simulation-Based Test Harness for Autonomous Vehicles.
    By Rahul Mangharam.
    In Cyber Physical Systems. Design, Modeling, and Evaluation: 7th International Workshop, CyPhy 2017, Seoul, South Korea, October 15-20, 2017, Revised Selected Papers, vol. 11267, p. 94, 2019.
  • Electroanatomic mapping to determine scar regions in patients with atrial fibrillation.
    By Jiyue He, Kuk Jin Jang, Katie Walsh, Jackson Liang, Sanjay Dixit, and Rahul Mangharam.
    In 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 5941–5944, 2019.

    • 2018

  • Learning and control using Gaussian processes.
    By Achin Jain, Truong X. Nghiem, Manfred Morari, and Rahul Mangharam.
    In 2018 ACM/IEEE 9th international conference on cyber-physical systems (ICCPS), pp. 140–149, 2018.
  • Fly-by-logic: Control of multi-drone fleets with temporal logic objectives.
    By Yash Vardhan Pant, Houssam Abbas, Rhudii A Quaye, and Rahul Mangharam.
    In 2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS), pp. 186–197, 2018.
  • Data-driven model predictive control with regression trees—an application to building energy management.
    By Achin Jain, Francesco Smarra, Madhur Behl, and Rahul Mangharam.
    In ACM Transactions on Cyber-Physical Systems, vol. 2, no. 1, pp. 1–21, 2018.
  • Real-time decision policies with predictable performance.
    By Houssam Abbas, Rajeev Alur, Konstantinos Mamouras, Rahul Mangharam, and Alena Rodionova.
    In Proceedings of the IEEE, vol. 106, no. 9, pp. 1593–1615, 2018.
  • Generalized robust MTL semantics for problems in cardiac electrophysiology.
    By Houssam Abbas and Rahul Mangharam.
    In 2018 Annual American Control Conference (ACC), pp. 1592–1597, 2018.
  • Tech report: Fly-by-logic: Control of multi-drone fleets with temporal logic objectives.
    By Yash Vardhan Pant, Houssam Abbas, Rhudii A Quaye, and Rahul Mangharam.
    2018.
  • Data-driven model predictive control using random forests for building energy optimization and climate control.
    By Francesco Smarra, Achin Jain, Tullio De Rubeis, Dario Ambrosini, Alessandro D’Innocenzo, and Rahul Mangharam.
    In Applied energy, vol. 226, pp. 1252–1272, 2018.
  • Data-driven switched affine modeling for model predictive control.
    By Francesco Smarra, Achin Jain, Rahul Mangharam, and Alessandro D’Innocenzo.
    In IFAC-PapersOnLine, vol. 51, no. 16, pp. 199–204, 2018.
  • A novel programming language to reduce energy consumption by arrhythmia monitoring algorithms in implantable cardioverter-defibrillators.
    By Houssam Abbas, Konstantinos Mamouras, Alena Rodionova, Alur Rajeev, Jackson Liang, Sanjay Dixit, and Rahul Mangharam.
    2018.
  • Protodrive: An Experimental Platform for Electric Vehicle Energy Scheduling and Control, DOT UTC Final Report.
    By Rahul Mangharam, et al.
    2018.
  • Quantitative regular expressions for monitoring cardiac arrhythmias.
    By Houssam Abbas, Rajeev Alur, Konstantinos Mamouras, Rahul Mangharam, and Alena Rodionova.
    In 2018 IEEE Workshop on Monitoring and Testing of Cyber-Physical Systems (MT-CPS), pp. 1–2, 2018.
  • Digital twins for efficient modeling and control of buildings: An integrated solution with scada systems.
    By Achin Jain, Derek Nong, Truong X. Nghiem, and Rahul Mangharam.
    In 2018 Building Performance Analysis Conference and SimBuild, 2018.
  • Computer aided clinical trials for implantable cardiac devices.
    By Kuk Jang, James Weimer, Houssam Abbas, Zhihao Jiang, Jackson Liang, Sanjay Dixit, and Rahul Mangharam.
    In 2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 1–4, 2018.
  • 2016-2018 Index—Proceedings of the IEEE Vol. 104-106.
    By H Abbas, R Alur, K Mamouras, R Mangharam, A Rodionova, S Abrol, A Mehmani, M Kerman, CJ Meinrenken, and PJ Culligan.
    In Proceedings of the IEEE, vol. 106, no. 12, p. 1, 2018.

    • 2017

  • Automated closed-loop model checking of implantable pacemakers using abstraction trees.
    By Zhihao Jiang, Houssam Abbas, Pieter J Mosterman, and Rahul Mangharam.
    In ACM SIGBED Review, vol. 14, no. 2, pp. 15–23, 2017.
  • Technical report: Control using the smooth robustness of temporal logic.
    By Yash Vardhan Pant, Houssam Abbas, and Rahul Mangharam.
    2017.
  • Relaxed decidability and the robust semantics of metric temporal logic.
    By Houssam Abbas, Matthew O’Kelly, and Rahul Mangharam.
    In Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control, pp. 217–225, 2017.
  • Computer-aided design for safe autonomous vehicles.
    By Matthew O’Kelly, Houssam Abbas, and Rahul Mangharam.
    In 2017 Resilience Week (RWS), pp. 90–96, 2017.
  • MOBILITY21: Strategic investments for transportation infrastructure & technology.
    By Rahul Mangharam, Megan Reyerson, Steve Viscelli, Hamsa Balakrishanan, Alexandre Bayen, Surabh Amin, Leslie Richards, Leo Bagley, and George J. Pappas.
    In arXiv preprint arXiv:1705.01923, 2017.
  • Smooth operator: Control using the smooth robustness of temporal logic.
    By Yash Vardhan Pant, Houssam Abbas, and Rahul Mangharam.
    In 2017 IEEE Conference on Control Technology and Applications (CCTA), pp. 1235–1240, 2017.
  • Data-Driven Modeling, Control, and Tools for Smart Cities.
    By Madhur Behl and Rahul Mangharam.
    In Smart Cities: Foundations, Principles, and Applications, pp. 243–274, 2017.
  • Methods, systems, and computer readable media for a data-driven demand response (dr) recommender. June-2017
  • Modeling opportunities in mhealth cyber-physical systems.
    By Wendy Nilsen, Emre Ertin, Eric B Hekler, Santosh Kumar, Insup Lee, Rahul Mangharam, Misha Pavel, James M Rehg, William Riley, Daniel E Rivera, et al.
    In Mobile Health: Sensors, Analytic Methods, and Applications, pp. 443–453, 2017.
  • Data predictive control using regression trees and ensemble learning.
    By Achin Jain, Francesco Smarra, and Rahul Mangharam.
    In 2017 IEEE 56th annual conference on decision and control (CDC), pp. 4446–4451, 2017.
  • A driver’s license test for driverless vehicles.
    By Houssam Abbas, Matthew E O’Kelly, Alena Rodionova, and Rahul Mangharam.
    In Mechanical Engineering, vol. 139, no. 12, pp. S13–S16, 2017.
  • An autonomous vehicle control stack.
    By Alena Rodionova, Matthew O’Kelly, Houssam Abbas, Vincent Pacelli, and Rahul Mangharam.
    In EPiC Series in Computing, vol. 48, pp. 44–51, 2017.
  • Nonlinear hybrid automata model of excitable cardiac tissue.
    By Houssam Abbas, Kuk Jin Jang, and Rahul Mangharam.
    In EPiC Series in Computing, vol. 43, pp. 1–8, 2017.
  • Automated closed-loop model checking of implantable pacemakers using abstraction trees.
    By Zhihao Jiang, Houssam Abbas, Pieter J Mosterman, and Rahul Mangharam.
    In ACM SIGBED Review, vol. 14, no. 2, pp. 15–23, 2017.
  • Relaxed decidability and the robust semantics of metric temporal logic.
    By Houssam Abbas, Matthew O’Kelly, and Rahul Mangharam.
    In Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control, pp. 217–225, 2017.
  • Computer-aided design for safe autonomous vehicles.
    By Matthew O’Kelly, Houssam Abbas, and Rahul Mangharam.
    In 2017 Resilience Week (RWS), pp. 90–96, 2017.
  • MOBILITY21: Strategic investments for transportation infrastructure & technology.
    By Rahul Mangharam, Megan Reyerson, Steve Viscelli, Hamsa Balakrishanan, Alexandre Bayen, Surabh Amin, Leslie Richards, Leo Bagley, and George J. Pappas.
    In arXiv preprint arXiv:1705.01923, 2017.
  • Smooth operator: Control using the smooth robustness of temporal logic.
    By Yash Vardhan Pant, Houssam Abbas, and Rahul Mangharam.
    In 2017 IEEE Conference on Control Technology and Applications (CCTA), pp. 1235–1240, 2017.
  • Data-Driven Modeling, Control, and Tools for Smart Cities.
    By Madhur Behl and Rahul Mangharam.
    In Smart Cities: Foundations, Principles, and Applications, pp. 243–274, 2017.
  • Methods, systems, and computer readable media for a data-driven demand response (dr) recommender. June-2017
  • Modeling opportunities in mhealth cyber-physical systems.
    By Wendy Nilsen, Emre Ertin, Eric B Hekler, Santosh Kumar, Insup Lee, Rahul Mangharam, Misha Pavel, James M Rehg, William Riley, Daniel E Rivera, et al.
    In Mobile Health: Sensors, Analytic Methods, and Applications, pp. 443–453, 2017.
  • Data predictive control using regression trees and ensemble learning.
    By Achin Jain, Francesco Smarra, and Rahul Mangharam.
    In 2017 IEEE 56th annual conference on decision and control (CDC), pp. 4446–4451, 2017.
  • A driver’s license test for driverless vehicles.
    By Houssam Abbas, Matthew E O’Kelly, Alena Rodionova, and Rahul Mangharam.
    In Mechanical Engineering, vol. 139, no. 12, pp. S13–S16, 2017.
  • An autonomous vehicle control stack.
    By Alena Rodionova, Matthew O’Kelly, Houssam Abbas, Vincent Pacelli, and Rahul Mangharam.
    In EPiC Series in Computing, vol. 48, pp. 44–51, 2017.
  • Nonlinear hybrid automata model of excitable cardiac tissue.
    By Houssam Abbas, Kuk Jin Jang, and Rahul Mangharam.
    In EPiC Series in Computing, vol. 43, pp. 1–8, 2017.

    • 2016

  • DR-Advisor: A data-driven demand response recommender system.
    By Madhur Behl, Francesco Smarra, and Rahul Mangharam.
    In Applied Energy, vol. 170, pp. 30–46, 2016.
  • The challenges of high-confidence medical device software.
    By Zhihao Jiang, Houssam Abbas, Kuk Jin Jang, and Rahul Mangharam.
    In Computer, vol. 49, no. 1, pp. 34–42, 2016.
  • Data-driven modeling, control and tools for cyber-physical energy systems.
    By Madhur Behl, Achin Jain, and Rahul Mangharam.
    In 2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS), pp. 1–10, 2016.
  • APEX: Autonomous vehicle plan verification and execution.
    By Matthew O’Kelly, Houssam Abbas, Sicun Gao, Shin’ichi Shiraishi, Shinpei Kato, and Rahul Mangharam.
    2016.
  • Towards model checking of implantable cardioverter defibrillators.
    By Houssam Abbas, Kuk Jin Jiang, Zhihao Jiang, and Rahul Mangharam.
    In Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control, pp. 87–92, 2016.
  • Tech report: Robust model predictive control for non-linear systems with input and state constraints via feedback linearization.
    By Yash Vardhan Pant, Houssam Abbas, and Rahul Mangharam.
    2016.
  • Benchmark: Nonlinear Hybrid Automata Model of Excitable Cardiac Tissue.
    By Houssam Abbas, Kuk Jin Jang, and Rahul Mangharam.
    2016.
  • Three challenges in cyber-physical systems.
    By Rahul Mangharam, Houssam Abbas, Madhur Behl, Kuk Jang, Miroslav Pajic, and Zhihao Jiang.
    In 2016 8th International Conference on Communication Systems and Networks (COMSNETS), pp. 1–8, 2016.
  • Interactive analytics for smart cities infrastructures.
    By Madhur Behl and Rahul Mangharam.
    In 2016 1st International Workshop on Science of Smart City Operations and Platforms Engineering (SCOPE) in partnership with Global City Teams Challenge (GCTC)(SCOPE-GCTC), pp. 1–6, 2016.
  • In-silico pre-clinical trials for implantable cardioverter defibrillators.
    By Zhihao Jiang, Houssam Abbas, Kuk Jin Jang, Marco Beccani, Jackson Liang, Sanjay Dixit, and Rahul Mangharam.
    In 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 169–172, 2016.
  • Data predictive control for peak power reduction.
    By Achin Jain, Rahul Mangharam, and Madhur Behl.
    In Proceedings of the 3rd ACM International Conference on Systems for Energy-Efficient Built Environments, pp. 109–118, 2016.
  • Data Predictive Control for building energy management.
    By Achin Jain, Madhur Behl, and Rahul Mangharam.
    In Proceedings of the 3rd ACM International Conference on Systems for Energy-Efficient Built Environments, pp. 245–246, 2016.
  • Computer aided clinical trials for implantable cardiac devices.
    By Houssam Abbas, Zhihao Jiang, Kuk Jin Jang, Marco Beccani, Jackson Liang, Sanjay Dixit, and Rahul Mangharam.
    2016.
  • Robust model predictive control for non-linear systems with input and state constraints via feedback linearization.
    By Yash Vardhan Pant, Houssam Abbas, and Rahul Mangharam.
    In 2016 IEEE 55th Conference on Decision and Control (CDC), pp. 5694–5699, 2016.
  • High-level modeling for computer-aided clinical trials of medical devices.
    By Houssam Abbas, Zhihao Jiang, Kuk Jin Jang, Marco Beccani, Jackson Liangy, and Rahul Mangharam.
    In 2016 IEEE International High Level Design Validation and Test Workshop (HLDVT), pp. 85–92, 2016.
  • Cybercardia project: modeling, verification and validation of implantable cardiac devices.
    By Md Ariful Islam, Hyunkyung Lim, Nicola Paoletti, Houssam Abbas, Zhihao Jiang, Jacek Cyranka, Rance Cleaveland, Sicun Gao, Edmund Clarke, Radu Grosu, et al.
    In 2016 IEEE International Conference on Bioinformatics and Biomedicine (BIBM), pp. 1445–1452, 2016.
  • DR-Advisor: A data-driven demand response recommender system.
    By Madhur Behl, Francesco Smarra, and Rahul Mangharam.
    In Applied Energy, vol. 170, pp. 30–46, 2016.
  • The challenges of high-confidence medical device software.
    By Zhihao Jiang, Houssam Abbas, Kuk Jin Jang, and Rahul Mangharam.
    In Computer, vol. 49, no. 1, pp. 34–42, 2016.
  • Data-driven modeling, control and tools for cyber-physical energy systems.
    By Madhur Behl, Achin Jain, and Rahul Mangharam.
    In 2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS), pp. 1–10, 2016.
  • Towards model checking of implantable cardioverter defibrillators.
    By Houssam Abbas, Kuk Jin Jiang, Zhihao Jiang, and Rahul Mangharam.
    In Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control, pp. 87–92, 2016.
  • Tech report: Robust model predictive control for non-linear systems with input and state constraints via feedback linearization.
    By Yash Vardhan Pant, Houssam Abbas, and Rahul Mangharam.
    2016.
  • Benchmark: Nonlinear Hybrid Automata Model of Excitable Cardiac Tissue.
    By Houssam Abbas, Kuk Jin Jang, and Rahul Mangharam.
    2016.
  • Three challenges in cyber-physical systems.
    By Rahul Mangharam, Houssam Abbas, Madhur Behl, Kuk Jang, Miroslav Pajic, and Zhihao Jiang.
    In 2016 8th International Conference on Communication Systems and Networks (COMSNETS), pp. 1–8, 2016.
  • Interactive analytics for smart cities infrastructures.
    By Madhur Behl and Rahul Mangharam.
    In 2016 1st International Workshop on Science of Smart City Operations and Platforms Engineering (SCOPE) in partnership with Global City Teams Challenge (GCTC)(SCOPE-GCTC), pp. 1–6, 2016.
  • In-silico pre-clinical trials for implantable cardioverter defibrillators.
    By Zhihao Jiang, Houssam Abbas, Kuk Jin Jang, Marco Beccani, Jackson Liang, Sanjay Dixit, and Rahul Mangharam.
    In 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 169–172, 2016.
  • Data predictive control for peak power reduction.
    By Achin Jain, Rahul Mangharam, and Madhur Behl.
    In Proceedings of the 3rd ACM International Conference on Systems for Energy-Efficient Built Environments, pp. 109–118, 2016.
  • Data Predictive Control for building energy management.
    By Achin Jain, Madhur Behl, and Rahul Mangharam.
    In Proceedings of the 3rd ACM International Conference on Systems for Energy-Efficient Built Environments, pp. 245–246, 2016.
  • Computer aided clinical trials for implantable cardiac devices.
    By Houssam Abbas, Zhihao Jiang, Kuk Jin Jang, Marco Beccani, Jackson Liang, Sanjay Dixit, and Rahul Mangharam.
    2016.
  • Robust model predictive control for non-linear systems with input and state constraints via feedback linearization.
    By Yash Vardhan Pant, Houssam Abbas, and Rahul Mangharam.
    In 2016 IEEE 55th Conference on Decision and Control (CDC), pp. 5694–5699, 2016.
  • High-level modeling for computer-aided clinical trials of medical devices.
    By Houssam Abbas, Zhihao Jiang, Kuk Jin Jang, Marco Beccani, Jackson Liangy, and Rahul Mangharam.
    In 2016 IEEE International High Level Design Validation and Test Workshop (HLDVT), pp. 85–92, 2016.
  • Cybercardia project: modeling, verification and validation of implantable cardiac devices.
    By Md Ariful Islam, Hyunkyung Lim, Nicola Paoletti, Houssam Abbas, Zhihao Jiang, Jacek Cyranka, Rance Cleaveland, Sicun Gao, Edmund Clarke, Radu Grosu, et al.
    In 2016 IEEE International Conference on Bioinformatics and Biomedicine (BIBM), pp. 1445–1452, 2016.

    • 2015

  • Abstraction-Tree For Closed-loop Model Checking of Medical Devices.
    By Zhihao Jiang, Houssam Abbas, P Mosterman, and Rahul Mangharam.
    Tech Report: http://repository. upenn. edu/mlab_papers
    2015
  • Co-design of anytime computation and robust control (supplemental).
    By Yash Vardhan Pant, Kartik Mohta, Houssam Abbas, Truong X. Nghiem, Joesph Deveitti, and Rahul Mangharam.
    2015.
  • Cloud Mat: Context-aware personalization of fitness content.
    By Kuk Jin Jang, Jungmin Ryoo, Orkan Telhan, and Rahul Mangharam.
    In 2015 IEEE International Conference on Services Computing, pp. 301–308, 2015.
  • Guest Editors’ Introduction: Cyber-Physical Systems for Medical Applications.
    By Paul Bogdan and Rahul Mangharam.
    In IEEE Des. Test, vol. 32, no. 5, pp. 6–8, 2015.
  • Scalable scheduling of energy control systems.
    By Truong X. Nghiem and Rahul Mangharam.
    In 2015 International Conference on Embedded Software (EMSOFT), pp. 137–146, 2015.
  • Sometimes, money does grow on trees: Data-driven demand response with dr-advisor.
    By Madhur Behl and Rahul Mangharam.
    In Proceedings of the 2nd ACM International Conference on Embedded Systems for Energy-Efficient Built Environments, pp. 137–146, 2015.
  • A data-driven demand response recommender system.
    By Madhur Behl and Rahul Mangharam.
    In Proceedings of the 2nd ACM International Conference on Embedded Systems for Energy-Efficient Built Environments, pp. 111–112, 2015.
  • High-confidence medical device software development.
    By Zhihao Jiang, Rahul Mangharam, et al.
    In Foundations and Trends&#0174 in Electronic Design Automation, vol. 9, no. 4, pp. 309–391, 2015.
  • Model Checking Implantable Cardioverter Defibrillators.
    By Houssam Abbas, Kuk Jin Jang, Zhihao Jiang, and Rahul Mangharam.
    In arXiv preprint arXiv:1512.08083, 2015.
  • Sometimes, money does grow on trees: Dr-advisor, a data driven demand response recommender system.
    By Madhur Behl and Rahul Mangharam.
    2015.
  • Campus-wide integrated building energy simulation.
    By Willy Bernal, Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    2015.
  • Hardware optimizations for anytime perception and control.
    By KN Nischal, Paritosh Kelkar, Dhruva Kumar, Yash Vardhan Pant, Houssam Abbas, Joseph Devietti, and Rahul Mangharam.
    In 2015 IEEE Real-Time Systems Symposium, pp. 380–380, 2015.
  • Co-design of anytime computation and robust control.
    By Yash Vardhan Pant, Houssam Abbas, Kartik Mohta, Truong X. Nghiem, Joseph Devietti, and Rahul Mangharam.
    In 2015 IEEE Real-Time Systems Symposium, pp. 43–52, 2015.
  • Power-efficient algorithms for autonomous navigation.
    By Yash Vardhan Pant, Houssam Abbas, KN Nischal, Paritosh Kelkar, Dhruva Kumar, Joseph Devietti, and Rahul Mangharam.
    In 2015 International Conference on Complex Systems Engineering (ICCSE), pp. 1–6, 2015.
  • DR-Advisor: A data driven demand response recommender system.
    By Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    2015.
  • Cyber-Physical Systems for Medical Applications Publication date: September/October 2015.
    By Paul Bogdan and Rahul Mangharam.
    2015.
  • Abstraction-Tree For Closed-loop Model Checking of Medical Devices.
    By Zhihao Jiang, Houssam Abbas, P Mosterman, and Rahul Mangharam.
    Tech Report: http://repository. upenn. edu/mlab_papers
    2015
  • Co-design of anytime computation and robust control (supplemental).
    By Yash Vardhan Pant, Kartik Mohta, Houssam Abbas, Truong X. Nghiem, Joesph Deveitti, and Rahul Mangharam.
    2015.
  • Cloud Mat: Context-aware personalization of fitness content.
    By Kuk Jin Jang, Jungmin Ryoo, Orkan Telhan, and Rahul Mangharam.
    In 2015 IEEE International Conference on Services Computing, pp. 301–308, 2015.
  • Guest Editors’ Introduction: Cyber-Physical Systems for Medical Applications.
    By Paul Bogdan and Rahul Mangharam.
    In IEEE Des. Test, vol. 32, no. 5, pp. 6–8, 2015.
  • Scalable scheduling of energy control systems.
    By Truong X. Nghiem and Rahul Mangharam.
    In 2015 International Conference on Embedded Software (EMSOFT), pp. 137–146, 2015.
  • Sometimes, money does grow on trees: Data-driven demand response with dr-advisor.
    By Madhur Behl and Rahul Mangharam.
    In Proceedings of the 2nd ACM International Conference on Embedded Systems for Energy-Efficient Built Environments, pp. 137–146, 2015.
  • A data-driven demand response recommender system.
    By Madhur Behl and Rahul Mangharam.
    In Proceedings of the 2nd ACM International Conference on Embedded Systems for Energy-Efficient Built Environments, pp. 111–112, 2015.
  • High-confidence medical device software development.
    By Zhihao Jiang, Rahul Mangharam, et al.
    In Foundations and Trends&#0174 in Electronic Design Automation, vol. 9, no. 4, pp. 309–391, 2015.
  • Model Checking Implantable Cardioverter Defibrillators.
    By Houssam Abbas, Kuk Jin Jang, Zhihao Jiang, and Rahul Mangharam.
    In arXiv preprint arXiv:1512.08083, 2015.
  • Sometimes, money does grow on trees: Dr-advisor, a data driven demand response recommender system.
    By Madhur Behl and Rahul Mangharam.
    2015.
  • Campus-wide integrated building energy simulation.
    By Willy Bernal, Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    2015.
  • Hardware optimizations for anytime perception and control.
    By KN Nischal, Paritosh Kelkar, Dhruva Kumar, Yash Vardhan Pant, Houssam Abbas, Joseph Devietti, and Rahul Mangharam.
    In 2015 IEEE Real-Time Systems Symposium, pp. 380–380, 2015.
  • Co-design of anytime computation and robust control.
    By Yash Vardhan Pant, Houssam Abbas, Kartik Mohta, Truong X. Nghiem, Joseph Devietti, and Rahul Mangharam.
    In 2015 IEEE Real-Time Systems Symposium, pp. 43–52, 2015.
  • Power-efficient algorithms for autonomous navigation.
    By Yash Vardhan Pant, Houssam Abbas, KN Nischal, Paritosh Kelkar, Dhruva Kumar, Joseph Devietti, and Rahul Mangharam.
    In 2015 International Conference on Complex Systems Engineering (ICCSE), pp. 1–6, 2015.
  • DR-Advisor: A data driven demand response recommender system.
    By Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    2015.
  • Cyber-Physical Systems for Medical Applications Publication date: September/October 2015.
    By Paul Bogdan and Rahul Mangharam.
    2015.

    • 2014

  • Heart-on-a-Chip: a closed-loop testing platform for implantable pacemakers.
    By Zhihao Jiang, Sriram Radhakrishnan, Varun Sampath, Shilpa Sarode, and Rahul Mangharam.
    2014.
  • Closed-loop verification of medical devices with model abstraction and refinement.
    By Zhihao Jiang, Miroslav Pajic, Rajeev Alur, and Rahul Mangharam.
    In International Journal on Software Tools for Technology Transfer, vol. 16, no. 2, pp. 191–213, 2014.
  • Safety-critical medical device development using the UPP2SF model translation tool.
    By Miroslav Pajic, Zhihao Jiang, Insup Lee, Oleg Sokolsky, and Rahul Mangharam.
    In ACM Transactions on Embedded Computing Systems (TECS), vol. 13, no. 4s, pp. 1–26, 2014.
  • Model-iq: Uncertainty propagation from sensing to modeling and control in buildings.
    By Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    In 2014 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), pp. 13–24, 2014.
  • IMpACT: Inverse model accuracy and control performance toolbox for buildings.
    By Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    In 2014 IEEE International Conference on Automation Science and Engineering (CASE), pp. 1109–1114, 2014.
  • Peak power reduction in hybrid energy systems with limited load forecasts.
    By Yash Vardhan Pant, Truong X. Nghiem, and Rahul Mangharam.
    In 2014 American Control Conference, pp. 4212–4217, 2014.
  • Peak power control of battery and super-capacitor energy systems in electric vehicles.
    By Yash Vardhan Pant, Truong X. Nghiem, and Rahul Mangharam.
    2014.
  • Special issue on real-time and embedded technology and applications, ACM Transactions on Embedded Computing Systems (TECS), vol. 13, no. 4s. ACM New York, NY, USA, pp. pp. 1–2, 2014
  • OR. NET-approaches for risk analysis and measures of dynamically interconnected medical devices.
    By Franziska Kühn, Martin Leucker, and Alexander Mildner.
    In 5th Workshop on Medical Cyber-Physical Systems, 2014.
  • An approach to integrate distributed systems of medical devices in high acuity environments.
    By David Gregorczyk, Stefan Fischer, Timm Busshaus, Stefan Schlichting, and Stephan Pöhlsen.
    In 5th Workshop on Medical Cyber-Physical Systems, 2014.
  • OASIcs, Volume 36, MCPS’14, Complete Volume.
    By Volker Turau, Marta Kwiatkowska, Rahul Mangharam, and Christoph Weyer.
    In 5th Workshop on Medical Cyber-Physical Systems, 2014.
  • Compositional, approximate, and quantitative reasoning for medical cyber-physical systems with application to patient-specific cardiac dynamics and devices.
    By Radu Grosu, Elizabeth Cherry, Edmund M Clarke, Rance Cleaveland, Sanjay Dixit, Flavio H Fenton, Sicun Gao, James Glimm, Richard A Gray, Rahul Mangharam, et al.
    In Leveraging Applications of Formal Methods, Verification and Validation. Specialized Techniques and Applications: 6th International Symposium, ISoLA 2014, Imperial, Corfu, Greece, October 8-11, 2014, Proceedings, Part II 6, pp. 356–364, 2014.
  • Distributed control of a swarm of buildings connected to a smart grid: demo abstract.
    By Baris Aksanli, Alper S Akyurek, Madhur Behl, Meghan Clark, Alexandre Donzé, Prabal Dutta, Patrick Lazik, Mehdi Maasoumy, Rahul Mangharam, Truong X. Nghiem, et al.
    In Proceedings of the 1st ACM Conference on Embedded Systems for Energy-Efficient Buildings, pp. 172–173, 2014.
  • The swarm at the edge of the cloud.
    By Edward A Lee, Björn Hartmann, John Kubiatowicz, Tajana Simunic Rosing, John Wawrzynek, David Wessel, Jan Rabaey, Kris Pister, Alberto Sangiovanni-Vincentelli, Sanjit A Seshia, et al.
    In IEEE Design & Test, vol. 31, no. 3, pp. 8–20, 2014.
  • Requirement-guided model refinement.
    By Zhihao Jiang, Pieter Mosterman, and Rahul Mangharam.
    2014.
  • 5th Workshop on Medical Cyber-Physical Systems.
    By Volker Turau, Marta Kwiatkowska, Rahul Mangharam, Christoph Weyer, Paolo Masci, Yi Zhang, Paul Jones, Harold Thimbleby, Paul Curzon, David Gregorczyk, et al.
    2014.
  • Robust Model Predictive Control with Anytime Estimation.
    By Truong X. Nghiem, Yash Vardhan Pant, and Rahul Mangharam.
    2014.
  • Evaluation of dr-advisor on the ashrae great energy predictor shootout challenge.
    By Madhur Behl and Rahul Mangharam.
    2014.
  • Demo Abstract: Distributed Control of a Swarm of Buildings Connected to Smart Grid.
    By Baris Aksanli, Alper S Akyurek, Meghan Clark, Alexandre Donzé, Prabal Dutta, Patrick Lazik, Mehdi Maasoumy, Rahul Mangharam, Richard Murray, Truong X. Nghiem, et al.
    2014.
  • Heart-on-a-Chip: a closed-loop testing platform for implantable pacemakers.
    By Zhihao Jiang, Sriram Radhakrishnan, Varun Sampath, Shilpa Sarode, and Rahul Mangharam.
    2014.
  • Closed-loop verification of medical devices with model abstraction and refinement.
    By Zhihao Jiang, Miroslav Pajic, Rajeev Alur, and Rahul Mangharam.
    In International Journal on Software Tools for Technology Transfer, vol. 16, no. 2, pp. 191–213, 2014.
  • Safety-critical medical device development using the UPP2SF model translation tool.
    By Miroslav Pajic, Zhihao Jiang, Insup Lee, Oleg Sokolsky, and Rahul Mangharam.
    In ACM Transactions on Embedded Computing Systems (TECS), vol. 13, no. 4s, pp. 1–26, 2014.
  • Model-iq: Uncertainty propagation from sensing to modeling and control in buildings.
    By Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    In 2014 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), pp. 13–24, 2014.
  • IMpACT: Inverse model accuracy and control performance toolbox for buildings.
    By Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    In 2014 IEEE International Conference on Automation Science and Engineering (CASE), pp. 1109–1114, 2014.
  • Peak power reduction in hybrid energy systems with limited load forecasts.
    By Yash Vardhan Pant, Truong X. Nghiem, and Rahul Mangharam.
    In 2014 American Control Conference, pp. 4212–4217, 2014.
  • Peak power control of battery and super-capacitor energy systems in electric vehicles.
    By Yash Vardhan Pant, Truong X. Nghiem, and Rahul Mangharam.
    2014.
  • Special issue on real-time and embedded technology and applications, ACM Transactions on Embedded Computing Systems (TECS), vol. 13, no. 4s. ACM New York, NY, USA, pp. pp. 1–2, 2014
  • Compositional, approximate, and quantitative reasoning for medical cyber-physical systems with application to patient-specific cardiac dynamics and devices.
    By Radu Grosu, Elizabeth Cherry, Edmund M Clarke, Rance Cleaveland, Sanjay Dixit, Flavio H Fenton, Sicun Gao, James Glimm, Richard A Gray, Rahul Mangharam, et al.
    In Leveraging Applications of Formal Methods, Verification and Validation. Specialized Techniques and Applications: 6th International Symposium, ISoLA 2014, Imperial, Corfu, Greece, October 8-11, 2014, Proceedings, Part II 6, pp. 356–364, 2014.
  • The swarm at the edge of the cloud.
    By Edward A Lee, Björn Hartmann, John Kubiatowicz, Tajana Simunic Rosing, John Wawrzynek, David Wessel, Jan Rabaey, Kris Pister, Alberto Sangiovanni-Vincentelli, Sanjit A Seshia, et al.
    In IEEE Design & Test, vol. 31, no. 3, pp. 8–20, 2014.
  • Requirement-guided model refinement.
    By Zhihao Jiang, Pieter Mosterman, and Rahul Mangharam.
    2014.
  • 5th Workshop on Medical Cyber-Physical Systems.
    By Volker Turau, Marta Kwiatkowska, Rahul Mangharam, Christoph Weyer, Paolo Masci, Yi Zhang, Paul Jones, Harold Thimbleby, Paul Curzon, David Gregorczyk, et al.
    2014.
  • Robust Model Predictive Control with Anytime Estimation.
    By Truong X. Nghiem, Yash Vardhan Pant, and Rahul Mangharam.
    2014.
  • Evaluation of dr-advisor on the ashrae great energy predictor shootout challenge.
    By Madhur Behl and Rahul Mangharam.
    2014.
  • Demo Abstract: Distributed Control of a Swarm of Buildings Connected to Smart Grid.
    By Baris Aksanli, Alper S Akyurek, Meghan Clark, Alexandre Donzé, Prabal Dutta, Patrick Lazik, Mehdi Maasoumy, Rahul Mangharam, Richard Murray, Truong X. Nghiem, et al.
    2014.

    • 2013

  • Robust architectures for embedded wireless network control and actuation.
    By Miroslav Pajic, Alexander Chernoguzov, and Rahul Mangharam.
    In ACM Transactions on Embedded Computing Systems (TECS), vol. 11, no. 4, pp. 1–24, 2013.
  • Networked realization of discrete-time controllers.
    By Fei Miao, Miroslav Pajic, Rahul Mangharam, and George J. Pappas.
    In 2013 American Control Conference, pp. 2996–3001, 2013.
  • Topological conditions for in-network stabilization of dynamical systems.
    By Miroslav Pajic, Rahul Mangharam, George J. Pappas, and Shreyas Sundaram.
    In IEEE Journal on Selected Areas in Communications, vol. 31, no. 4, pp. 794–807, 2013.
  • Event-based green scheduling of radiant systems in buildings.
    By Truong X. Nghiem, George J. Pappas, and Rahul Mangharam.
    In 2013 American Control Conference, pp. 455–460, 2013.
  • Towards synthesis of platform-aware attack-resilient control systems.
    By Miroslav Pajic, Nicola Bezzo, James Weimer, Rajeev Alur, Rahul Mangharam, Nathan Michael, George J. Pappas, Oleg Sokolsky, Paulo Tabuada, Stephanie Weirich, et al.
    In Proceedings of the 2nd ACM international conference on High confidence networked systems, pp. 75–76, 2013.
  • Demo abstract: EnergyLab: building energy testbed for demand-response.
    By Madhur Behl, Neel D Shah, Larry Vadakedathu, Dan Wheeler, and Rahul Mangharam.
    In Proceedings of the 12th international conference on Information processing in sensor networks, pp. 303–304, 2013.
  • ProtoDrive: An experimental platform for electric vehicle energy scheduling and control.
    By William Price, Harsh Jain, Yash Vardhan Pant, and Rahul Mangharam.
    In ACM Sigbed Review, vol. 10, no. 2, pp. 33–33, 2013.
  • Distributed control for cyber-physical systems.
    By Rahul Mangharam and Miroslav Pajic.
    2013.
  • Uncertainty propagation from sensing to modeling and control in buildings-technical report.
    By Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    2013.
  • Model-Based Conformance Testing for Implantable Pacemakers.
    By George Chen, Zhihao Jiang, and Rahul Mangharam.
    2013.
  • Multi-scale modeling of the heart for closed-loop evaluation of pacemaker software.
    By Zhihao Jiang and Rahul Mangharam.
    In Frontiers in Biomedical Devices, vol. 56000, p. V001T10A051, 2013.
  • University of Pennsylvania develops electrophysiological heart model for real-time closed-loop testing of pacemakers. Mathworks, 2013
  • Knock NOx: Model-based Remote Diagnostics of a Diesel Exhaust Control System.
    By Yash Vardhan Pant, Truong X. Nghiem, and Rahul Mangharam.
    In WorkǦinǦProgress Proceedings, p. 17, 2013.
  • AUTOPLUG: Remote Diagnostics Automotive Architecture for Control Software Safety.
    By Rahul Mangharam, Yash Vardhan Pant, and Truong X. Nghiem.
    2013.
  • Anytime Algorithms for Automotive Architectures.
    By Rahul Mangharam.
    2013.
  • Anytime Algorithms for Automotive Architectures: UTC Final Report.
    By Rahul Mangharam, et al.
    2013.
  • Robust architectures for embedded wireless network control and actuation.
    By Miroslav Pajic, Alexander Chernoguzov, and Rahul Mangharam.
    In ACM Transactions on Embedded Computing Systems (TECS), vol. 11, no. 4, pp. 1–24, 2013.
  • Networked realization of discrete-time controllers.
    By Fei Miao, Miroslav Pajic, Rahul Mangharam, and George J. Pappas.
    In 2013 American Control Conference, pp. 2996–3001, 2013.
  • Topological conditions for in-network stabilization of dynamical systems.
    By Miroslav Pajic, Rahul Mangharam, George J. Pappas, and Shreyas Sundaram.
    In IEEE Journal on Selected Areas in Communications, vol. 31, no. 4, pp. 794–807, 2013.
  • Event-based green scheduling of radiant systems in buildings.
    By Truong X. Nghiem, George J. Pappas, and Rahul Mangharam.
    In 2013 American Control Conference, pp. 455–460, 2013.
  • Towards synthesis of platform-aware attack-resilient control systems.
    By Miroslav Pajic, Nicola Bezzo, James Weimer, Rajeev Alur, Rahul Mangharam, Nathan Michael, George J. Pappas, Oleg Sokolsky, Paulo Tabuada, Stephanie Weirich, et al.
    In Proceedings of the 2nd ACM international conference on High confidence networked systems, pp. 75–76, 2013.
  • Demo abstract: EnergyLab: building energy testbed for demand-response.
    By Madhur Behl, Neel D Shah, Larry Vadakedathu, Dan Wheeler, and Rahul Mangharam.
    In Proceedings of the 12th international conference on Information processing in sensor networks, pp. 303–304, 2013.
  • ProtoDrive: An experimental platform for electric vehicle energy scheduling and control.
    By William Price, Harsh Jain, Yash Vardhan Pant, and Rahul Mangharam.
    In ACM Sigbed Review, vol. 10, no. 2, pp. 33–33, 2013.
  • Distributed control for cyber-physical systems.
    By Rahul Mangharam and Miroslav Pajic.
    2013.
  • Uncertainty propagation from sensing to modeling and control in buildings-technical report.
    By Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    2013.
  • Model-Based Conformance Testing for Implantable Pacemakers.
    By George Chen, Zhihao Jiang, and Rahul Mangharam.
    2013.
  • Multi-scale modeling of the heart for closed-loop evaluation of pacemaker software.
    By Zhihao Jiang and Rahul Mangharam.
    In Frontiers in Biomedical Devices, vol. 56000, p. V001T10A051, 2013.
  • University of Pennsylvania develops electrophysiological heart model for real-time closed-loop testing of pacemakers. Mathworks, 2013
  • Knock NOx: Model-based Remote Diagnostics of a Diesel Exhaust Control System.
    By Yash Vardhan Pant, Truong X. Nghiem, and Rahul Mangharam.
    In WorkǦinǦProgress Proceedings, p. 17, 2013.
  • AUTOPLUG: Remote Diagnostics Automotive Architecture for Control Software Safety.
    By Rahul Mangharam, Yash Vardhan Pant, and Truong X. Nghiem.
    2013.
  • Anytime Algorithms for Automotive Architectures.
    By Rahul Mangharam.
    2013.

    • 2012

  • Modeling and verification of a dual chamber implantable pacemaker.
    By Zhihao Jiang, Miroslav Pajic, Salar Moarref, Rajeev Alur, and Rahul Mangharam.
    In Tools and Algorithms for the Construction and Analysis of Systems: 18th International Conference, TACAS 2012, Held as Part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2012, Tallinn, Estonia, March 24–April 1, 2012. Proceedings 18, pp. 188–203, 2012.
  • Closing the loop: A simple distributed method for control over wireless networks.
    By Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, and Rahul Mangharam.
    In Proceedings of the 11th international conference on Information Processing in Sensor Networks, pp. 25–36, 2012.
  • From verification to implementation: A model translation tool and a pacemaker case study.
    By Miroslav Pajic, Zhihao Jiang, Insup Lee, Oleg Sokolsky, and Rahul Mangharam.
    In 2012 IEEE 18th Real Time and Embedded Technology and Applications Symposium, pp. 173–184, 2012.
  • Green scheduling for radiant systems in buildings.
    By Truong X. Nghiem, Madhur Behl, George J. Pappas, and Rahul Mangharam.
    In 2012 IEEE 51st IEEE Conference on Decision and Control (CDC), pp. 7577–7582, 2012.
  • Demo abstract: Model-based testing of implantable cardiac devices.
    By Shilpa Sarode, Sriram Radhakrishnan, Varun Sampath, Zhihao Jiang, Miroslav Pajic, and Rahul Mangharam.
    In 2012 IEEE/ACM Third International Conference on Cyber-Physical Systems, pp. 221–221, 2012.
  • AUTOPLUG: An Architecture for Remote Electronic Controller Unit Diagnostics in Automotive Systems.
    By Yash Vardhan Pant, Miroslav Pajic, and Rahul Mangharam.
    2012.
  • Green scheduling for energy-efficient operation of multiple chiller plants.
    By Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    In 2012 IEEE 33rd Real-Time Systems Symposium, pp. 195–204, 2012.
  • Scalable scheduling of building control systems for peak demand reduction.
    By Truong X. Nghiem, Madhur Behl, Rahul Mangharam, and George J. Pappas.
    In 2012 American Control Conference (ACC), pp. 3050–3055, 2012.
  • MLE+ a tool for integrated design and deployment of energy efficient building controls.
    By Willy Bernal, Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    In Proceedings of the Fourth ACM Workshop on Embedded Sensing Systems for Energy-Efficiency in Buildings, pp. 123–130, 2012.
  • Model-driven safety analysis of closed-loop medical systems.
    By Miroslav Pajic, Rahul Mangharam, Oleg Sokolsky, David Arney, Julian Goldman, and Insup Lee.
    In IEEE Transactions on Industrial Informatics, vol. 10, no. 1, pp. 3–16, 2012.
  • Protodrive: An experimental platform for electric vehicle energy scheduling and control.
    By Stephanie Diaz, Harsh Jain, Yash Vardhan Pant, William Price, and Rahul Mangharam.
    2012.
  • MLE+ design and deployment integration for energy-efficient building controls.
    By Willy Bernal, Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    In Proceedings of the Fourth ACM Workshop on Embedded Sensing Systems for Energy-Efficiency in Buildings, pp. 215–216, 2012.
  • The car and the cloud: Automotive architectures for 2020.
    By Rahul Mangharam.
    2012.
  • Protodrive: An Experimental Platform for Electric Vehicle Energy Scheduling and Control.
    By Rahul Mangharam.
    2012.
  • Modeling and verification of a dual chamber implantable pacemaker.
    By Zhihao Jiang, Miroslav Pajic, Salar Moarref, Rajeev Alur, and Rahul Mangharam.
    In Tools and Algorithms for the Construction and Analysis of Systems: 18th International Conference, TACAS 2012, Held as Part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2012, Tallinn, Estonia, March 24–April 1, 2012. Proceedings 18, pp. 188–203, 2012.
  • Closing the loop: A simple distributed method for control over wireless networks.
    By Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, and Rahul Mangharam.
    In Proceedings of the 11th international conference on Information Processing in Sensor Networks, pp. 25–36, 2012.
  • From verification to implementation: A model translation tool and a pacemaker case study.
    By Miroslav Pajic, Zhihao Jiang, Insup Lee, Oleg Sokolsky, and Rahul Mangharam.
    In 2012 IEEE 18th Real Time and Embedded Technology and Applications Symposium, pp. 173–184, 2012.
  • Green scheduling for radiant systems in buildings.
    By Truong X. Nghiem, Madhur Behl, George J. Pappas, and Rahul Mangharam.
    In 2012 IEEE 51st IEEE Conference on Decision and Control (CDC), pp. 7577–7582, 2012.
  • Demo abstract: Model-based testing of implantable cardiac devices.
    By Shilpa Sarode, Sriram Radhakrishnan, Varun Sampath, Zhihao Jiang, Miroslav Pajic, and Rahul Mangharam.
    In 2012 IEEE/ACM Third International Conference on Cyber-Physical Systems, pp. 221–221, 2012.
  • AUTOPLUG: An Architecture for Remote Electronic Controller Unit Diagnostics in Automotive Systems.
    By Yash Vardhan Pant, Miroslav Pajic, and Rahul Mangharam.
    2012.
  • Green scheduling for energy-efficient operation of multiple chiller plants.
    By Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    In 2012 IEEE 33rd Real-Time Systems Symposium, pp. 195–204, 2012.
  • Scalable scheduling of building control systems for peak demand reduction.
    By Truong X. Nghiem, Madhur Behl, Rahul Mangharam, and George J. Pappas.
    In 2012 American Control Conference (ACC), pp. 3050–3055, 2012.
  • MLE+ a tool for integrated design and deployment of energy efficient building controls.
    By Willy Bernal, Madhur Behl, Truong X. Nghiem, and Rahul Mangharam.
    In Proceedings of the Fourth ACM Workshop on Embedded Sensing Systems for Energy-Efficiency in Buildings, pp. 123–130, 2012.
  • Model-driven safety analysis of closed-loop medical systems.
    By Miroslav Pajic, Rahul Mangharam, Oleg Sokolsky, David Arney, Julian Goldman, and Insup Lee.
    In IEEE Transactions on Industrial Informatics, vol. 10, no. 1, pp. 3–16, 2012.
  • Protodrive: An experimental platform for electric vehicle energy scheduling and control.
    By Stephanie Diaz, Harsh Jain, Yash Vardhan Pant, William Price, and Rahul Mangharam.
    2012.
  • The car and the cloud: Automotive architectures for 2020.
    By Rahul Mangharam.
    2012.
  • Protodrive: An Experimental Platform for Electric Vehicle Energy Scheduling and Control.
    By Rahul Mangharam.
    2012.

    • 2011

  • Model-based closed-loop testing of implantable pacemakers.
    By Zhihao Jiang, Miroslav Pajic, and Rahul Mangharam.
    In 2011 IEEE/ACM Second International Conference on Cyber-Physical Systems, pp. 131–140, 2011.
  • The wireless control network: A new approach for control over networks.
    By Miroslav Pajic, Shreyas Sundaram, George J. Pappas, and Rahul Mangharam.
    In IEEE transactions on automatic control, vol. 56, no. 10, pp. 2305–2318, 2011.
  • Topological conditions for wireless control networks.
    By Miroslav Pajic, Shreyas Sundaram, George J. Pappas, and Rahul Mangharam.
    In 2011 50th IEEE Conference on Decision and Control and European Control Conference, pp. 2353–2360, 2011.
  • Autoplug: An automotive test-bed for electronic controller unit testing and verification.
    By Utsav Drolia, Zhenyan Wang, Yash Vardhan Pant, and Rahul Mangharam.
    In 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC), pp. 1187–1192, 2011.
  • Modeling cardiac pacemaker malfunctions with the virtual heart model.
    By Zhihao Jiang and Rahul Mangharam.
    In 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 263–266, 2011.
  • Cyber–physical modeling of implantable cardiac medical devices.
    By Zhihao Jiang, Miroslav Pajic, and Rahul Mangharam.
    In Proceedings of the IEEE, vol. 100, no. 1, pp. 122–137, 2011.
  • The wireless control network: Topological conditions for system stabilization.
    By Miroslav Pajic, Shreyas Sundaram, Rahul Mangharam, and George J. Pappas.
    In University of Pennsylvania, Tech. Rep, 2011.
  • Green scheduling of control systems for peak demand reduction.
    By Truong X. Nghiem, Madhur Behl, Rahul Mangharam, and George J. Pappas.
    In 2011 50th IEEE Conference on Decision and Control and European Control Conference, pp. 5131–5136, 2011.
  • Demo abstract: AutoPlug—An automotive test-bed for ECU testing, validation and verification.
    By Utsav Drolia, Zhenyan Wang, Srinivas Vemuri, Madhur Behl, and Rahul Mangharam.
    In Proceedings of the 10th ACM/IEEE International Conference on Information Processing in Sensor Networks, pp. 131–132, 2011.
  • UPP2SF: Translating UPPAAL models to Simulink.
    By Miroslav Pajic, Insup Lee, Rahul Mangharam, and Oleg Sokolsky.
    In University of Pennsylvania, Tech. Rep, 2011.
  • Architecture for a fully distributed wireless control network.
    By Miroslav Pajic, Shreyas Sundaram, Mansimar Aneja, Srinivas Vemuri, Rahul Mangharam, and George J. Pappas.
    In Proceedings of the 10th ACM/IEEE International Conference on Information Processing in Sensor Networks, pp. 117–118, 2011.
  • Anytime algorithms for GPU architectures.
    By Rahul Mangharam and Aminreza Abrahimi Saba.
    In 2011 IEEE 32nd Real-Time Systems Symposium, pp. 47–56, 2011.
  • A simple distributed method for control over wireless networks.
    By Miroslav Pajic, Shreyas Sundaram, George J. Pappas, and Rahul Mangharam.
    2011.
  • Demo abstract: RAVEN—Remote autonomous vehicle explorer network.
    By Paul Martin, William Etter, and Rahul Mangharam.
    In Proceedings of the 10th ACM/IEEE International Conference on Information Processing in Sensor Networks, pp. 123–124, 2011.
  • Green Scheduling: Scheduling of Control Systems for Peak Power Reduction.
    By Rahul Mangharam, Truong X. Nghiem, Madhur Behl, and George J. Pappas.
    2011.
  • On the feasibility of linear discrete-time systems of the green scheduling problem.
    By Zheng Li, Pei-Chi Huang, Aloysius K Mok, Truong X. Nghiem, Madhur Behl, George J. Pappas, and Rahul Mangharam.
    In 2011 IEEE 32nd Real-Time Systems Symposium, pp. 295–304, 2011.
  • Demo abstract: Closed-loop testing for implantable cardiac pacemakers.
    By Zhihao Jiang, Miroslav Pajic, and Rahul Mangharam.
    In Proceedings of the 10th ACM/IEEE International Conference on Information Processing in Sensor Networks, pp. 119–120, 2011.
  • Green scheduling: Scheduling of control systems for peak power reduction.
    By Truong X. Nghiem, Madhur Behl, George J. Pappas, and Rahul Mangharam.
    In 2011 International Green Computing Conference and Workshops, pp. 1–8, 2011.
  • EnRoute: An energy router for energy-efficient buildings.
    By Madhur Behl, Mansimar Aneja, Harsh Jain, and Rahul Mangharam.
    In Proceedings of the 10th ACM/IEEE International Conference on Information Processing in Sensor Networks, pp. 125–126, 2011.
  • Cooperative flight guidance of autonomous unmanned aerial vehicles.
    By William H Etter Jr, Paul Martin, and Rahul Mangharam.
    2011.
  • Network synthesis for dynamical system stabilization.
    By Miroslav Pajic, Shreyas Sundaram, George J. Pappas, and Rahul Mangharam.
    In 2011 Conference Record of the Forty Fifth Asilomar Conference on Signals, Systems and Computers (ASILOMAR), pp. 821–825, 2011.

    • 2010

    2009

  • Anti-jamming for embedded wireless networks.
    By Miroslav Pajic and Rahul Mangharam.
    In 2009 International Conference on Information Processing in Sensor Networks, pp. 301–312, 2009.
  • Demo abstract: Embedded Virtual Machines for wireless industrial automation.
    By Rahul Mangharam, Miroslav Pajic, and Shivakumar Sastry.
    In 2009 International Conference on Information Processing in Sensor Networks, pp. 413–414, 2009.
  • Embedded Virtual Machines for Wireless Industrial Automation.
    By Miroslav Pajic and Rahul Mangharam.
    2009.

    • 2008

  • MEERA: Cross-layer methodology for energy efficient resource allocation in wireless networks.
    By Sofie Pollin, Rahul Mangharam, Bruno Bougard, Liesbet Van der Perre, Ingrid Moerman, Ragunathan Rajkumar, and Francky Catthoor.
    In IEEE Transactions on Wireless Communications, vol. 7, no. 1, pp. 98–109, 2008.
  • Wispernet: Anti-jamming for wireless sensor networks.
    By Miroslav Pajic and Rahul Mangharam.
    2008.
  • Mixed Reality, Now a Reality Network Virtualization for Real-Time Automotive-CPS Networks.
    By Rahul Mangharam.
    2008.
  • Real-time embedded wireless networks: Algorithms and experiences
    PhD thesis Carnegie Mellon University 2008
  • Real-Time Traffic Congestion Prediction.
    By Rahul Mangharam, Insup Lee, and Oleg Sokolsky.
    2008.

    • 2007

  • FireFly: a cross-layer platform for real-time embedded wireless networks.
    By Rahul Mangharam, Anthony Rowe, and Raj Rajkumar.
    In Real-Time Systems, vol. 37, pp. 183–231, 2007.
  • Bounded-latency alerts in vehicular networks.
    By Rahul Mangharam, Raj Rajkumar, Mark Hamilton, Priyantha Mudaliget, and Fan Bait.
    In 2007 Mobile Networking for Vehicular Environments, pp. 55–60, 2007.
  • Node connectivity in vehicular ad hoc networks with structured mobility.
    By Ivan WH Ho, Kin K Leung, John W Polak, and Rahul Mangharam.
    In 32nd IEEE Conference on Local Computer Networks (LCN 2007), pp. 635–642, 2007.
  • Bounded-latency alerts in vehicular networks. In 2007 Mobile Networking for Vehicular Environments. IEEE, 2007

    • 2006

  • RT-Link: A time-synchronized link protocol for energy-constrained multi-hop wireless networks.
    By Anthony Rowe, Rahul Mangharam, and Raj Rajkumar.
    In 2006 3rd Annual IEEE Communications Society on Sensor and Ad Hoc Communications and Networks, vol. 2, pp. 402–411, 2006.
  • Voice over sensor networks.
    By Rahul Mangharam, Anthony Rowe, Raj Rajkumar, and Ryohei Suzuki.
    In 2006 27th IEEE International Real-Time Systems Symposium (RTSS’06), pp. 291–302, 2006.
  • Groovenet: A hybrid simulator for vehicle-to-vehicle networks.
    By Rahul Mangharam, Daniel Weller, Raj Rajkumar, Priyantha Mudalige, and Fan Bai.
    In 2006 Third Annual International Conference on Mobile and Ubiquitous Systems: Networking & Services, pp. 1–8, 2006.
  • FireFly: A time synchronized real-time sensor networking platform.
    By Anthony Rowe, Rahul Mangharam, and Raj Rajkumar.
    In Wireless Ad Hoc Networking: Personal-Area, Local-Area, and the Sensory-Area Networks, CRC Press Book, 2006.
  • Max: A maximal transmission concurrency mac for wireless networks with regular structure.
    By Rahul Mangharam and Raj Rajkumar.
    In 2006 3rd International Conference on Broadband Communications, Networks and Systems, pp. 1–10, 2006.
  • RT-Link: A Time-Synchronized Link Protocol for Energy-Constrained Multi-hop Wireless Networks.
    By Rahul Mangharam, Anthoney Rowe, and Raj Rajkumar.
    2006.

    • 2005

  • GrooveSim: a topography-accurate simulator for geographic routing in vehicular networks.
    By Rahul Mangharam, Daniel S Weller, Daniel D Stancil, Ragunathan Rajkumar, and Jayendra S Parikh.
    In Proceedings of the 2nd ACM international workshop on Vehicular ad hoc networks, pp. 59–68, 2005.
  • Optimal fixed and scalable energy management for wireless networks.
    By Rahul Mangharam, Ragunathan Rajkumar, Sofie Pollin, Francky Catthoor, Bruno Bougard, Liesbet Van der Perre, and Ingrid Moeman.
    In Proceedings IEEE 24th Annual Joint Conference of the IEEE Computer and Communications Societies., vol. 1, pp. 114–125, 2005.
  • Optimizing transmission and shutdown for energy-efficient packet scheduling in sensor networks.
    By Sofie Pollin, Bruno Bougard, Rahul Mangharam, Liesbet Van der Perre, Francky Catthoor, Ragunathan Rajkumar, and Ingrid Moerman.
    In Proceeedings of the Second European Workshop on Wireless Sensor Networks, 2005., pp. 290–301, 2005.
  • Optimizing transmission and shutdown for energy-efficient real-time packet scheduling in clustered ad hoc networks.
    By Sofie Pollin, Bruno Bougard, Rahul Mangharam, Francky Catthoor, Ingrid Moerman, Ragunathan Rajkumar, and Liesbet Van der Perre.
    In EURASIP Journal on wireless communications and networking, vol. 2005, no. 5, pp. 1–14, 2005.
  • A multi-hop mobile networking test-bed for telematics.
    By Rahul Mangharam, Jacob J Meyers, Ragunathan Rajkumar, Daniel D Stancil, Jayendra S Parikh, Hariharan Krishnan, and Christopher Kellum.
    In SAE transactions, pp. 441–447, 2005.