Publications

  1. Akash Harapanahalli, Samuel Coogan, “A Linear Differential Inclusion for Contraction Analysis to Known Trajectories.” In submission, 2024. [pdf]
  2. Akash Harapanahalli, Samuel Coogan, “A Global Coordinate-Free Approach to Invariant Contraction on Homogeneous Manifolds.” In submission, 2024. [pdf]
  3. Akash Harapanahalli, Samuel Coogan, “Certified Robust Invariant Polytope Training in Neural Controlled ODEs.” In submission, 2024. [pdf] [code]
  4. Akash Harapanahalli, Samuel Coogan, “Efficient Reachable Sets on Lie Groups Using Lie Algebra Monotonicity and Tangent Intervals.” To Appear in 2024 63rd IEEE Conference on Decision and Control (CDC), 2024. [pdf]
  5. Akash Harapanahalli, Saber Jafarpour, Samuel Coogan, “immrax: A Parallelizable and Differentiable Toolbox for Interval Analysis and Mixed Monotone Reachability in JAX.” Appeared in The 8th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), 2024. [pdf] [github] [slides]
  6. Saber Jafarpour*, Akash Harapanahalli*, Samuel Coogan, “Efficient Interaction-Aware Interval Analysis of Neural Network Feedback Loops.” Published in IEEE Transactions on Automatic Control (TAC), 2024. [pdf]
  7. Akash Harapanahalli, Saber Jafarpour, Samuel Coogan, “Forward Invariance in Neural Network Controlled Systems.” Published in IEEE Control Systems Letters (L-CSS), 2023. [pdf] [slides]
  8. Luke Baird, Akash Harapanahalli, Samuel Coogan, “Interval Signal Temporal Logic From Natural Inclusion Functions.” Published in IEEE Control Systems Letters (L-CSS), 2023. [pdf]
  9. Akash Harapanahalli, Saber Jafarpour, Samuel Coogan, “Contraction-Guided Adaptive Partitioning for Reachability Analysis of Neural Network Controlled Systems.” Appeared in 2023 62nd IEEE Conference on Decision and Control (CDC), 2023. [pdf] [slides]
  10. Akash Harapanahalli, Saber Jafarpour, Samuel Coogan, “A Toolbox for Fast Interval Arithmetic in numpy with an Application to Formal Verification of Neural Network Controlled Systems.” Appeared in 2nd Workshop on Formal Verification of Machine Learning (WFVML), 2023. [pdf] [github] [poster]
  11. Saber Jafarpour*, Akash Harapanahalli*, Samuel Coogan, “Interval Reachability of Nonlinear Dynamical Systems with Neural Network Controllers.” Appeared in The 5th Annual Learning for Dynamics and Control Conference (L4DC), 2023. [pdf] [poster]
  12. Akash Harapanahalli*, Emil Muly*, Hogan Welch*, Timothy Brumfiel*, Zhengyang Weng*, Manzano Akhtar, Ahmed Abouelnasr, Austin Newland, James Bunting, Kevin McGorrey, Juo Lee, Gaorong Wang, Luke Drnach, Don Lee, Ye Zhao, “Towards a Biomimetic and Dexterous Robot Avatar: Design, Control, and Kinematics Considerations.” Best Latest Breaking Results Poster at 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020. First Place in the Hardware, Devices & Robotics Track of the 2021 GaTech VIP Innovation Competition. [abstract] [poster] [video]

* indicates equal contribution