George Pappas
Joseph Moore Professor & Department Chair, ESE
George’s research focuses on developing methods for the control of next-generation hierarchical and distributed systems. His research group focuses on developing analysis and design algorithms and tools for hybrid systems, which merge control systems with computing systems. Their methods have been used in developing algorithms for coordinated motion of fleets of unmanned aerial vehicles and multi-robot systems, analyzing the safety of next generation medical devices, and understanding the macroscopic behavior of biological networks.
Research Areas
Publications
Publisher IEEE, IROS
Publisher ICRA
Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Fair Robust Assignment using Redundancy
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Scalable Reinforcement Learning Policies for Multi-Agent Control
Publisher arXiv
A Control-Theoretic Approach to Analysis and Parameter Selection of Douglas-Rachford Splitting
Publisher IEEE Control Systems
Case study: Verifying the safety of an autonomous racing car with a neural network controller
Publisher ACM International Conference on Hybrid Systems: Computation and Control (HSCC)
Consensus of Multiagent Systems Via Asynchronous Cloud Communication
Publisher IEEE Transactions on Control of Network Systems
Finite-dimensional control of linear discrete-time fractional-order systems
Publisher Automatica
Information Theoretic Active Exploration in Signed Distance Fields
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Model-based design for seizure control by stimulation
Publisher Journal of Neural Engineering
Reactive Temporal Logic Planning for Multiple Robots in Unknown Environments
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Robust Economic Model Predictive Control of Continuous-Time Epidemic Processes
Publisher IEEE Transactions on Automatic Control
State-Secrecy Codes for Networked Linear Systems
Publisher IEEE Transactions on Automatic Control
A Chebyshev-Accelerated Primal-Dual Method for Distributed Optimization
Publisher IEEE Conference on Decision and Control (CDC)
A Robust Moment Closure for General Continuous-time Epidemic Processes
Publisher IEEE Conference on Decision and Control (CDC)
An Information Matrix Approach for State Secrecy
Publisher IEEE Conference on Decision and Control (CDC)
Publisher IEEE Transactions on Control of Network Systems
Assumed density filtering Q-learning
Publisher International Joint Conference on Artificial Intelligence (IJCAI)
Cloud-Based MPC with Encrypted Data
Publisher IEEE Conference on Decision and Control (CDC)
Continuous estimation using context-dependent discrete measurements
Publisher IEEE Transactions on Automatic Control
Control of generalized discrete-time SIS epidemics via submodular function minimization
Publisher IEEE Control Systems
Data-Driven Robust Taxi Dispatch under Demand Uncertainties
Publisher IEEE Transactions on Control Systems Technology
Encrypted Cooperative Control Revisited
Publisher IEEE Conference on Decision and Control (CDC)
Encrypted LQG using labeled homomorphic encryption
Publisher ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)
Finite Sample Analysis of Stochastic System Identification
Publisher IEEE Conference on Decision and Control (CDC)
Learning in wireless control systems over nonstationary channels
Publisher IEEE Transactions on Signal Processing
Learning Q-network for Active Information Acquisition
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Maximum Information Bounds for Planning Active Sensing Trajectories
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Minimal edge addition for network controllability
Publisher IEEE Transactions on Control of Network Systems
Minimal Reachability is Hard to Approximate
Publisher IEEE Transactions on Automatic Control
Publisher IEEE American Control Conference (ACC)
Publisher IEEE American Control Conference (ACC)
Optimal Reset Strategies for Mitigating Malware Epidemics
Publisher IEEE American Control Conference (ACC)
Optimal Temporal Logic Planning for Multi-Robot Systems in Uncertain Semantic Maps
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Probabilistic Verification and Reachability Analysis of Neural Networks via Semidefinite Programming
Publisher IEEE Conference on Decision and Control (CDC)
Publisher IEEE Conference on Decision and Control (CDC)
Resilient active target tracking with multiple robots
Publisher IEEE Robotics and Automation Letters (RA-L)
Resilient Monotone Sequential Maximization
Publisher IEEE Conference on Decision and Control (CDC)
Resilient structural stabilizability of undirected networks
Publisher IEEE American Control Conference (ACC)
Sample Complexity of Networked Control Systems over Unknown Channels
Publisher IEEE Conference on Decision and Control (CDC)
Secure multi-party computation for cloud-based control
Publisher Privacy in Dynamical Systems
Structural Target Controllability of Undirected Networks
Publisher IEEE Conference on Decision and Control (CDC)
Tuning Communication Latency for Distributed Model Predictive Control
Publisher IFAC-PapersOnLine
Verisig: Verifying safety properties of hybrid systems with neural network controllers
Publisher ACM International Conference on Hybrid Systems: Computation and Control (HSCC)
A hybrid stochastic game for secure control of cyber-physical systems
Publisher Automatica
A unifying view of geometry, semantics, and data association in SLAM
Publisher International Joint Conference on Artificial Intelligence (IJCAI)
Anytime Planning for Decentralized Multirobot Active Information Gathering
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Approximating Explicit Model Predictive Control Using Constrained Neural Networks
Publisher IEEE American Control Conference (ACC)
Battery management for control systems with energy harvesting sensors
Publisher IEEE Conference on Decision and Control (CDC)
Differential privacy for dynamical sensitive data
Publisher IEEE Conference on Decision and Control (CDC)
Diffusing private data over networks
Publisher IEEE Transactions on Control of Network Systems
Dynamic Integration of Heterogeneous Transportation Modes under Disruptive Events
Publisher ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)
Hierarchical data-driven vehicle dispatch and ride-sharing
Publisher IEEE Conference on Decision and Control (CDC)
Learning in Non-Stationary Wireless Control Systems via Newton’s Method
Publisher IEEE American Control Conference (ACC)
Learning Statistically Accurate Resource Allocations in Non-Stationary Wireless Systems
Publisher IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)
Publisher IEEE Conference on Decision and Control (CDC)
Network design for controllability metrics
Publisher IEEE Conference on Decision and Control (CDC)
On the limited communication analysis and design for decentralized estimation
Publisher IEEE Conference on Decision and Control (CDC)
Optimal Resource Allocation for Competitive Spreading Processes on Bilayer Networks
Publisher IEEE Transactions on Control of Network Systems
Optimization of Switched Linear Systems over Non-Stationary Wireless Channels
Publisher IEEE Workshop on Signal Processing Advances in Wireless Communications (SPAWC)
Random access design for wireless control systems
Publisher Automatica
Resilient Active Information Gathering with Mobile Robots
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Resilient monotone submodular function maximization
Publisher IEEE Conference on Decision and Control (CDC)
Scenario-Based Model Predictive Control for Energy Harvesting Actuators
Publisher IEEE American Control Conference (ACC)
Selecting Sensors in Biological Fractional-Order Systems
Publisher IEEE Transactions on Control of Network Systems
Sensing-Constrained LQG Control
Publisher IEEE American Control Conference (ACC)
SMC: Satisfiability Modulo Convex Programming
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Spectral mapping of brain functional connectivity from diffusion imaging
Publisher Scientfic Reports
State estimation codes for perfect secrecy
Publisher IEEE Conference on Decision and Control (CDC)
State-Secrecy Codes for Stable Systems
Publisher IEEE American Control Conference (ACC)
The mean square error in Kalman filtering sensor selection is approximately supermodular
Publisher IEEE Conference on Decision and Control (CDC)
Verification of hybrid systems
Publisher Handbook of Model Checking
Approximation of network linear operators using similarity shift filters
Publisher IEEE Global Conference on Signal and Information Processing (GlobalSIP)
Attack-resilient state estimation for noisy dynamical systems
Publisher IEEE Transactions on Control of Network Systems
Calibration-free network localization using non-line-of-sight ultra-wideband measurements
Publisher ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN)
Coding Schemes for Securing Cyber-Physical Systems Against Stealthy Data Injection Attacks
Publisher IEEE Transactions on Control of Network Systems
Corrigendum: Trade-offs between driving nodes and time-to-control in complex networks
Publisher Scientfic Reports
Data-driven distributionally robust vehicle balancing using dynamic region partitions
Publisher ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)
Publisher IEEE Control Systems
Differentially Private Distributed Constrained Optimization
Publisher IEEE Transactions on Automatic Control
Discrete-time fractional-order multiple scenario-based sensor selection
Publisher IEEE American Control Conference (ACC)
Distributed leader selection in switching networks of high-order integrators
Publisher Annual Allerton Conference on Communication, Control, and Computing
Inference, prediction and control of networked epidemics
Publisher IEEE American Control Conference (ACC)
Minimum number of sensors to ensure observability of physiological systems: A case study
Publisher Annual Allerton Conference on Communication, Control, and Computing
Optimal resource allocation for control of networked epidemic models
Publisher IEEE Transactions on Control of Network Systems
Poster abstract: Wireless control for the IoT: Power, spectrum, and security challenges
Publisher IEEE/ACM International Conference on Internet-of-Things Design and Implementation (IoTDI)
Privacy preserving cloud-based quadratic optimization
Publisher Annual Allerton Conference on Communication, Control, and Computing
Probabilistic data association for semantic SLAM
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Quantification on the efficiency gain of automated ridesharing services
Publisher IEEE American Control Conference (ACC)
Resilient Flocking for Mobile Robot Teams
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Scheduling nonlinear sensors for stochastic process estimation
Publisher IEEE American Control Conference (ACC)
SMC: Satisfiability modulo convex optimization
Publisher International Conference on Hybrid Systems: Computation and Control (CPS)
Spectral control of cortical activity
Publisher IEEE American Control Conference (ACC)
State Estimation with Secrecy against Eavesdroppers
Publisher IFAC-PapersOnLine
Structural minimum controllability problem for switched linear continuous-time systems
Publisher Automatica
Trade-offs between driving nodes and time-to-control in complex networks
Publisher Scientfic Reports
A column generation approach for optimized routing and coordination of a UAV fleet
Publisher IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Analysis and Control of Epidemics: A Survey of Spreading Processes on Complex Networks
Publisher IEEE Control Systems
ATPC: Adaptive transmission power control for wireless sensor networks
Publisher ACM Transactions on Sensor Networks (TOSN)
Control-Aware Random Access Communication
Publisher ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)
Coordination of multi-agent systems via asynchronous cloud communication
Publisher IEEE Conference on Decision and Control (CDC)
Decentralized observability with limited communication between sensors
Publisher IEEE Conference on Decision and Control (CDC)
Differential privacy in control and network systems
Publisher IEEE Conference on Decision and Control (CDC)
Estimation of Blood Oxygen Content Using Context-Aware Filtering
Publisher ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)
Event-based information-theoretic privacy: A case study of smart meters
Publisher IEEE American Control Conference (ACC)
Implan: Scalable Incremental Motion Planning for Multi-Robot Systems
Publisher ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)
Localization from semantic observations via the matrix permanent
Publisher International Journal of Robotics Research (IJRR)
Publisher IEEE Conference on Decision and Control (CDC)
Minimal Actuator Placement with Bounds on Control Effort
Publisher IEEE Transactions on Control of Network Systems
Multi-agent coordination with asynchronous cloud access
Publisher IEEE American Control Conference (ACC)
Multi-owner multi-user privacy
Publisher IEEE Conference on Decision and Control (CDC)
Near-optimal sensor scheduling for batch state estimation: Complexity, algorithms, and limits
Publisher IEEE Conference on Decision and Control (CDC)
Online planning for energy-efficient and disturbance-aware UAV operations
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Optimal resource allocation for containing epidemics on time-varying networks
Publisher Asilomar Conference on Signals, Systems, and Computers (ACSSC)
Optimal temporal logic planning in probabilistic semantic maps
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Privacy-aware quadratic optimization using partially homomorphic encryption
Publisher IEEE Conference on Decision and Control (CDC)
Robust estimation using context-aware filtering
Publisher Annual Allerton Conference on Communication, Control, and Computing
Scalable lazy SMT-based motion planning
Publisher IEEE Conference on Decision and Control (CDC)
Self-triggered time-varying convex optimization
Publisher IEEE Conference on Decision and Control (CDC)
Sensor placement for optimal Kalman filtering: Fundamental limits, submodularity, and algorithms
Publisher IEEE American Control Conference (ACC)
State-based communication design for wireless control systems
Publisher IEEE Conference on Decision and Control (CDC)
Structural analysis and design of dynamic-flow networks: Implications in the brain dynamics
Publisher IEEE American Control Conference (ACC)
Taxi Dispatch with Real-Time Sensing Data in Metropolitan Areas: A Receding Horizon Control Approach
Publisher IEEE Transactions on Automation Science and Engineering (T-ASE)
A general class of spreading processes with non-Markovian dynamics
Publisher IEEE Conference on Decision and Control (CDC)
Publisher IEEE Conference on Decision and Control (CDC)
An approximately truthful mechanism for electric vehicle charging via joint differential privacy
Publisher IEEE American Control Conference (ACC)
Attack-resilient state estimation in the presence of noise
Publisher IEEE Conference on Decision and Control (CDC)
Automatic verification of linear controller software
Publisher International Conference on Embedded Software (EMSOFT)
Control with random access wireless sensors
Publisher IEEE Conference on Decision and Control (CDC)
Data-driven network resource allocation for controlling spreading processes
Publisher IEEE Transactions on Network Science and Engineering
Decentralized active information acquisition: Theory and application to multi-robot SLAM
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Decentralized channel access for wireless control systems
Publisher IFAC-PapersOnLine
Distributed algorithms for stochastic source seeking with mobile robot networks
Publisher Journal of Dynamic Systems, Measurement, and Control
Publisher IEEE Conference on Decision and Control (CDC)
Distributed resource allocation for control of spreading processes
Publisher European Control Conference (ECC)
Embedding the Concurrent Autonomous Agent into a Humanoid Robot
Publisher IFAC-PapersOnLine
Guest editorial special issue on control of cyber-physical systems
Publisher IEEE Transactions on Automatic Control
Minimal actuator placement with optimal control constraints
Publisher IEEE American Control Conference (ACC)
Publisher IEEE Conference on Decision and Control (CDC)
Publisher IEEE American Control Conference (ACC)
Minimum number of probes for brain dynamics observability
Publisher IEEE Conference on Decision and Control (CDC)
Opportunistic Control Over Shared Wireless Channels
Publisher IEEE Transactions on Automatic Control
Optimal resource allocation for competing epidemics over arbitrary networks
Publisher IEEE American Control Conference (ACC)
Periodic event-triggered average consensus over directed graphs
Publisher IEEE Conference on Decision and Control (CDC)
Robust taxi dispatch under model uncertainties
Publisher IEEE Conference on Decision and Control (CDC)
Self-triggered pursuit of a single evader
Publisher IEEE Conference on Decision and Control (CDC)
Smart building: A private cyber-physical system approach
Publisher International Workshop on the Swarm at the Edge of the Cloud (SWEC)
Sparsest minimum multiple-cost structural leader selection
Publisher IFAC-PapersOnLine
Static output feedback: On essential feasible information patterns
Publisher IEEE Conference on Decision and Control (CDC)
Publisher ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)
Team-triggered coordination of robotic networks for optimal deployment
Publisher IEEE American Control Conference (ACC)
Value of forecasts in planning under uncertainty
Publisher IEEE American Control Conference (ACC)
News
Faculty News
George Pappas and Nikolai Matni Receive 2024 IEEE Control Systems Society Best Paper Awards
December 18, 2024
Faculty News
October 17, 2024
Faculty News
February 21, 2024
Faculty News
December 12, 2023
Faculty News
Congratulations to Dr. George Pappas – Electrical Engineering Distinguished Alumnus Academia
February 19, 2021
GRASP News
October 10, 2017
GRASP News
“Penn Research Team Awarded $2.75 Million as Part of New ‘Swarm’ Computing Center”…Penn News
January 23, 2013
Faculty News
August 10, 2009
Ph.D. Students
Research Staff
Alumni
PhD, ESE '24, Postdoc, ESE '24 - Postdoctoral Researcher, Carnegie Mellon University
PhD, ESE '24 - Applied Scientist II at Amazon Fulfillment Technology and Robotics (AFTR)
Research Areas
- Distributed and Decentralized Control
- Hybrid Control Systems
- Learning for Control Systems
- Nonlinear Control Systems
- Autonomy
- Machine Learning
- Multi-robot Systems
- Semantic SLAM