People


Faculty

George Pappas

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


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Publications

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)

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

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)

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)

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

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

Motion planning with secrecy

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)

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)

Verisig: Verifying safety properties of hybrid systems with neural network controllers

Publisher ACM International Conference on Hybrid Systems: Computation and Control (HSCC)

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)

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)

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)

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)

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)

Verification of hybrid systems

Publisher Handbook of Model Checking

Optimal resource allocation for control of networked epidemic models

Publisher IEEE Transactions on Control of Network Systems

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

Data-driven distributionally robust vehicle balancing using dynamic region partitions

Publisher ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)

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

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)

A column generation approach for optimized routing and coordination of a UAV fleet

Publisher IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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)

Location-dependent privacy

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)

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)

State-based communication design for wireless control systems

Publisher IEEE Conference on Decision and Control (CDC)

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)

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)

Distributed algorithms for stochastic source seeking with mobile robot networks

Publisher Journal of Dynamic Systems, Measurement, and Control

Distributed leader selection

Publisher IEEE Conference on Decision and Control (CDC)

Distributed resource allocation for control of spreading processes

Publisher European Control Conference (ECC)

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)

Minimal reachability problems

Publisher IEEE Conference on Decision and Control (CDC)

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)

Static output feedback: On essential feasible information patterns

Publisher IEEE Conference on Decision and Control (CDC)

Taxi Dispatch with Real-Time Sensing Data in Metropolitan Areas – A Receding Horizon Control Approach

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)

Students

Nikolaos Bousias

PhD, ESE


Kong Yao Chee

PhD, ESE


Austin Chen

Robotics MS '20; PhD, ESE


Anthony Colangeli

Robotics MSE


Jonathan Evan Inglett

Robotics MSE


Rayana Jaafar

PhD, ESE


Matthew Malencia

Robotics MSE '19, PhD, ESE


Alexander Robey

PhD, ESE


Orlando Romero

PhD, ESE


Jierui Zhang

Robotics MSE


Research Staff

Thomas Beckers

PostDoc, ESE


Dionysios Kalogerias

PostDoc, ESE


Yiannis Kantaros

PostDoc, ESE


Lars Lindemann

PostDoc, ESE


Aritra Mitra

PostDoc, ESE


Vasileios Vasilopoulos

PhD, MEAM '21; PostDoc, ESE


Alumni

Andreea Alexandru

PhD, ESE '21


Victor Amelkin

PostDoc, ESE '20 - Research Scientist, Amazon Robotics


Nikolay Atanasov

PhD, ESE '15 - Assistant Professor, University of California- San Diego


Joseph Auckley

Robotics MSE '21 - AeroVect


Sahan Ayvaz

Robotics MSE '17


Jiaxiao (Mia) Cai

Robotics MSE '21


Anthony Colangeli

Robotics MSE


Chinwendu Enyioha

PhD, ESE '14


Konstantinos Gatsis

PhD, ESE '16 - PostDoc, ESE '19


Yi-Lin (Eileen) Huang

Robotics MSE '19 - Teaching Assistant, Software Engineer, Nuro & University of Pennsylvania


Qi Jin

Robotics MSE '21 - Rockwell Automation


Paritosh Kelkar

Robotics MSE '16 - Autonomous Vehicle Research Engineer, Honda R&D


Fei Miao

PostDoc, ESE '17 - Assistant Professor, University of Connecticut


Cameron Nowzari

PostDoc, ESE '16 - Assistant Professor, George Mason University


Erfan Nozari

PostDoc, ESE '20 - Assistant Professor, University of California, Riverside


Junfan Pan

Robotics MSE '21


Shai Revzen

PostDoc '12, ESE - Assistant Professor, University of Michigan


Brent Schlotfeldt

Robotics MSE '18, PhD, ESE '21


Vasileios Tzoumas

PhD, ESE '18 - University of Michigan


Vasileios Vasilopoulos

PhD, MEAM '21; PostDoc, ESE


Prakash Veerasekar

Robotics MSE '19


Jun Wang

Robotics MSE '21 - Washington University in St. Louis, PhD


Nicholas Watkins

PhD, ESE '18


Min Wen

PhD, ESE '18


Klayton Wittler

Robotics MSE '20


Shuzhan Yang

Robotics MSE '21 - Bloomberg


Michael Zavlanos

PhD, ESE '08 - Associate Profesor, Duke University


Erik Zhao

Robotics MSE '20 - Facebook


George Pappas

Research Areas

  • Distributed and Decentralized Control
  • Hybrid Control Systems
  • Learning for Control Systems
  • Nonlinear Control Systems
  • Autonomy
  • Machine Learning
  • Multi-robot Systems
  • Semantic SLAM