Publications

Preprints

  1. V. Madabushi, A. Harapanahalli, S. Coogan, M. Tucker, “Differentiable Invariant Sets for Hybrid Limit Cycles with Application to Legged Robots.” To appear in IEEE Conference on Decision and Control (CDC), 2026. [pdf]

Journal Papers

  1. A. Harapanahalli, S. Coogan, A. Davydov, “Learning Certified Neural Network Controllers Using Contraction and Interval Analysis.” IEEE Control Systems Letters (L-CSS), 2026. [pdf]
  2. A. Harapanahalli, S. Coogan, “A Linear Differential Inclusion for Contraction Analysis to Known Trajectories.” IEEE Transactions on Automatic Control (TAC), 2025. [pdf] [slides]
  3. B. Gould, A. Harapanahalli, S. Coogan, “Automatic and Scalable Safety Verification Using Interval Reachability With Subspace Sampling.” IEEE Control Systems Letters (L-CSS), 2025. [pdf]
  4. S. Jafarpour*, A. Harapanahalli*, S. Coogan, “Efficient Interaction-Aware Interval Analysis of Neural Network Feedback Loops.” IEEE Transactions on Automatic Control (TAC), 2024. [pdf]
  5. A. Harapanahalli, S. Jafarpour, S. Coogan, “Forward Invariance in Neural Network Controlled Systems.” IEEE Control Systems Letters (L-CSS), 2023. [pdf] [slides]
  6. L. Baird, A. Harapanahalli, S. Coogan, “Interval Signal Temporal Logic From Natural Inclusion Functions.” IEEE Control Systems Letters (L-CSS), 2023. [pdf]

Conference Papers

  1. A. Harapanahalli, S. Coogan, “Efficient Norm-Based Reachable Sets via Iterative Dynamic Programming.” American Control Conference (ACC), 2026. [pdf]
  2. A. Harapanahalli, S. Coogan, “Certified Robust Invariant Polytope Training in Neural Controlled ODEs.” Learning for Dynamics and Control Conference (L4DC), 2026. [pdf] [code] [slides]
  3. A. Harapanahalli, S. Coogan, “Parametric Reachable Sets Via Controlled Dynamical Embeddings.” IEEE Conference on Decision and Control (CDC), 2025. [pdf]
  4. A. Harapanahalli, S. Coogan, “A Global Coordinate-Free Approach to Invariant Contraction on Homogeneous Manifolds.” American Control Conference (ACC), 2025. [pdf] [slides]
  5. A. Harapanahalli, S. Coogan, “Efficient Reachable Sets on Lie Groups Using Lie Algebra Monotonicity and Tangent Intervals.” IEEE Conference on Decision and Control (CDC), 2024. Runner-Up for the Hybrid Systems Technical Committee Outstanding Student Paper Prize [pdf] [slides]
  6. A. Harapanahalli, S. Jafarpour, S. Coogan, “immrax: A Parallelizable and Differentiable Toolbox for Interval Analysis and Mixed Monotone Reachability in JAX.” IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), 2024. [pdf] [github] [slides]
  7. A. Harapanahalli, S. Jafarpour, S. Coogan, “Contraction-Guided Adaptive Partitioning for Reachability Analysis of Neural Network Controlled Systems.” IEEE Conference on Decision and Control (CDC), 2023. [pdf] [slides]
  8. A. Harapanahalli, S. Jafarpour, S. Coogan, “A Toolbox for Fast Interval Arithmetic in numpy with an Application to Formal Verification of Neural Network Controlled Systems.” Workshop on Formal Verification of Machine Learning, ICML (WFVML), 2023. [pdf] [github] [poster]
  9. S. Jafarpour*, A. Harapanahalli*, S. Coogan, “Interval Reachability of Nonlinear Dynamical Systems with Neural Network Controllers.” Learning for Dynamics and Control Conference (L4DC), 2023. [pdf] [poster]
  10. A. Harapanahalli*, E. Muly*, H. Welch*, T. Brumfiel*, Z. Weng*, M. Akhtar, A. R. Abouelnasr, A. Newland, J. Bunting, K. McGorrey, J. S. Lee, G. Wang, L. Drnach, D. J. Lee, Y. Zhao, “Towards a Biomimetic and Dexterous Robot Avatar: Design, Control, and Kinematics Considerations.” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020. Best Latest Breaking Results Poster; First Place in the Hardware, Devices & Robotics Track of the 2021 GaTech VIP Innovation Competition [pdf] [abstract] [poster] [video]

* indicates equal contribution