Publications

Some Representative Recent Papers

• P. Nilsson and N. Ozay, “Control Synthesis for Permutation-Symmetric High-Dimensional Systems With Counting Constraints”, IEEE Transactions on Automatic Control, 65(2): 461-476, February 2020 (code) (conference version appeared in HSCC 2016).

• S. Oymak and N. Ozay, “Revisiting Ho-Kalman based system identification: robustness and finite-sample analysis”, IEEE Transactions on Automatic Control, 67(4): 1914-1928, April 2022 (conference version titled “Non-asymptotic Identification of LTI Systems from a Single Trajectory” appeared in ACC 2019).

• L. Yang, O. Mickelin, and N. Ozay, “On sufficient conditions for mixed monotonicity”, IEEE Transactions on Automatic Control, 64(12): 5080-5085, December 2019 (also see our follow-up work in CDC 2019 that shows every forward complete system is mixed monotone).

• G. Chou*, Y. E. Sahin*, L. Yang*, K. J. Rutledge, P. Nilsson, and N. Ozay, “Using control synthesis to generate corner cases: A case study on autonomous driving”, IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (ESWEEK-TCAD special issue, EMSOFT 2018), 37(11): 2906-2917, November 2018. *Equal contribution. (code) (also see our follow-up work in EMSOFT 2021 for systems with learning-based perception components)

• Y. E. Sahin, P. Nilsson, and N. Ozay, “Multirobot Coordination with Counting Temporal Logics”, IEEE Transactions on Robotics, 36(4): 1189-1206, August 2020 (code) (conference versions appeared in ICCPS 2017 and CDC 2017).

• G. Chou, N. Ozay, and D. Berenson, “Learning Temporal Logic Formulas from Suboptimal Demonstrations: Theory and Experiments”, Autonomous Robots, 2021 (conference version appeared in RSS 2020).

• K. J. Rutledge, S. Z. Yong, and N. Ozay, “Finite Horizon Constrained Control and Bounded-error Estimation in the Presence of Missing Data”, Nonlinear Analysis: Hybrid Systems, Vol. 36: 1-18, May 2020 (conference version appeared in ACC 2019).

Preprints

• Y. Sattar*, Z. Du*, D. Ataee-Tarzanagh, L. Balzano, N. Ozay, and S. Oymak, “Identification and Adaptive Control of Markov Jump Systems: Sample Complexity and Regret Bounds”, submitted for journal publication, November 2021.

• S. Jang, N. Ozay, and J. L. Mathieu, “An Invariant Set Construction Method, Applied to Safe Coordination of Thermostatic Loads”, submitted for journal publication, February 2022.

• Z. Liu and N. Ozay, “Quantifying the Value of Preview Information for Safety Control”, submitted for journal publication, February 2023.

• A. Wintenberg, N. Ozay, and S. Lafortune, “Integrating Obfuscation and Control for Privacy”, submitted for journal publication, November 2023.

• Z. Liu, N. Ozay, and E. Sontag, “Properties of Immersions for Systems with Multiple Limit Sets with Implications to Learning Koopman Embeddings”, submitted for journal publication, January 2024.

Journal Papers

• R. Karagulle, N. Arechiga, A. Best, J. DeCastro, and N. Ozay, “A Safe Preference Learning Approach for Personalization with Applications to Autonomous Vehicles”, IEEE Robotics and Automation Letters, 2024 (to appear).

• T. Anevlavis*, Z. Liu*, N. Ozay, and P. Tabuada, “Controlled invariant sets: implicit closed-form representations and applications”, IEEE Transactions on Automatic Control, November 2023 (to appear). *Equal contribution.

• A. Aspeel, J. Nylof, S. J. Li, and N. Ozay, “A Low Rank Approach to Minimize Sensor-to-Actuator Communication in Finite Horizon Output Feedback”, IEEE Control Systems Letters, 2023. (with presentation at ACC 2024)

• Z. Liu, H. Chen, Y. Gao, and N. Ozay, “Opportunistic Safety Outside the Maximal Controlled Invariant Set”, IEEE Control Systems Letters, 2023. (with presentation at ACC 2024) (website).

• Z. Du*, H. Balim*, S. Oymak, and N. Ozay, “Can Transformers Learn Optimal Filtering for Unknown Systems?”, IEEE Control Systems Letters, 2023. *Equal contribution. (with presentation at ACC 2024)

• S. Jang, N. Ozay, and J. L. Mathieu, “Probabilistic Constraint Construction for Network-safe Load Coordination”, IEEE Transactions on Power Systems, 39(2): 4473-4485, March 2024.

• H. Balim, A. Aspeel, Z. Liu, and N. Ozay, “Koopman-inspired Implicit Backward Reachable Sets for Unknown Nonlinear Systems”, IEEE Control Systems Letters, 2023. (with presentation at CDC 2023)

• A. Wintenberg, S. Lafortune, and N. Ozay, “Opacity from Observers with a Bounded Memory”, IEEE Control Systems Letters, 2023. (with presentation at CDC 2023)

• Y. E. Sahin and N. Ozay, “From Drinking Philosophers to Asynchronous Path-Following Robots”, Automatica, Vol. 151, May 2023. Editor's Choice for May 2023

• Z. Du, L. Balzano, and N. Ozay, “Mode Reduction for Markov Jump Systems”, IEEE Open Journal of Control Systems, November 2022.

• L. Yang, H. Zhang, J.B. Jeannin, and N. Ozay, “Efficient Backward Reachability using the Minkowski Difference of Constrained Zonotopes”, IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (ESWEEK-TCAD special issue, EMSOFT 2022), November 2022.

• L. Yang and N. Ozay, “Scalable Zonotopic Under-approximation of Backward Reachable Sets for Uncertain Linear Systems”, IEEE Control Systems Letters, vol. 6, pp. 1555-1560, 2022. (with presentation at ACC 2022)

• A. Wintenberg, M. Blischke, S. Lafortune, and N. Ozay, “A General Language-Based Framework for Specifying and Verifying Notions of Opacity”, Journal of Discrete Event Dynamic Systems, 2022.

• S. Oymak and N. Ozay, “Revisiting Ho-Kalman based system identification: robustness and finite-sample analysis”, IEEE Transactions on Automatic Control, 67(4): 1914-1928, April 2022.

• G. Chou, N. Ozay, and D. Berenson, “Learning Temporal Logic Formulas from Suboptimal Demonstrations: Theory and Experiments”, Autonomous Robots, 2021.

• L. Yang and N. Ozay, “Synthesis-guided Adversarial Scenario Generation for Gray-box Feedback Control Systems with Sensing Imperfections”, ACM Transactions on Embedded Computing Systems, 20(5s) (EMSOFT 2021 special issue), Article 102, 25 pages, October 2021.

• G. Chou, D. Berenson, and N. Ozay, “Learning Constraints from Demonstrations with Grid and Parametric Representations”, International Journal of Robotics Research, 2021.

• Y. Chen and N. Ozay, “Data-driven computation of robust control invariant sets with concurrent model selection”, IEEE Transactions on Control Systems Technology, 30(2): 495-506, March 2022 (video).

• S. Mohajerani, R. Malik, A. Wintenberg, S. Lafortune, and N. Ozay, “Divergent Stutter Bisimulation Abstraction for Controller Synthesis with Linear Temporal Logic Specifications”, Automatica, Vol. 130, August 2021.

• C. Knuth*, G. Chou*, N. Ozay, and D. Berenson, “Planning with Learned Dynamics: Probabilistic Guarantees on Safety and Reachability via Lipschitz Constants”, IEEE Robotics and Automation Letters, 6(3): 5129 - 5136, 2021. *Equal contribution. (with presentation at ICRA 2021) (video).

• X. Xu, N. Ozay, and V. Gupta, “Passivity-Based Analysis of Sampled and Quantized Control Implementations”, Automatica, Vol. 119, September 2020.

• L. Yang, A. Karnik, B. Pence, M. T. B. Waez, and N. Ozay, “Fuel Cell Thermal Management: Modeling, Specifications and Correct-by-Construction Control Synthesis”, IEEE Transactions on Control Systems Technology, 28(5): 1638-1651, September 2020.

• Y. E. Sahin, P. Nilsson, and N. Ozay, “Multirobot Coordination with Counting Temporal Logics”, IEEE Transactions on Robotics, 36(4): 1189-1206, August 2020.

• K. J. Rutledge, S. Z. Yong, and N. Ozay, “Finite Horizon Constrained Control and Bounded-error Estimation in the Presence of Missing Data”, Nonlinear Analysis: Hybrid Systems, Vol. 36: 1-18, May 2020.

• T. Ersal, I. Kolmanovsky, N. Masoud, N. Ozay, J. Scruggs, R. Vasudevan, and G. Orosz, “Connected and automated road vehicles: state of the art and future challenges”, Vehicle System Dynamics, 58:5, 672-704, May 2020.

• G. Chou, N. Ozay, and D. Berenson, “Learning Constraints from Locally-Optimal Demonstrations under Cost Function Uncertainty”, IEEE Robotics and Automation Letters, 5(2): 3682 - 3690, April 2020 (with presentation at ICRA 2020) (video).

• P. Nilsson and N. Ozay, “Control Synthesis for Permutation-Symmetric High-Dimensional Systems With Counting Constraints”, IEEE Transactions on Automatic Control, 65(2): 461-476, February 2020 (code).

• L. Yang, O. Mickelin, and N. Ozay, “On sufficient conditions for mixed monotonicity”, IEEE Transactions on Automatic Control, 64(12): 5080-5085, December 2019.

• G. Chou*, Y. E. Sahin*, L. Yang*, K. J. Rutledge, P. Nilsson, and N. Ozay, “Using control synthesis to generate corner cases: A case study on autonomous driving”, IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (ESWEEK-TCAD special issue, EMSOFT 2018), 37(11): 2906-2917, November 2018. *Equal contribution. (code)

• C. R. He, W. Qin, N. Ozay, and G. Orosz, “Optimal Gear Shift Schedule Design for Autonomous Vehicles: Hybrid System Based Analytical Approach”, IEEE Transactions on Control Systems Technology, 26(6), 2078-2090, November 2018.

• F. Harirchi and N. Ozay, “Guaranteed Model-Based Fault Detection in Cyber-Physical Systems: A Model Invalidation Approach”, Automatica, Vol. 93: 476-488, July 2018.

• P. Nilsson, N. Ozay, and J. Liu, “Augmented Finite Transition Systems as Abstractions for Control Synthesis”, Journal of Discrete Event Dynamic Systems (Special issue on Formal Methods in Control), 27(2), 301-340, June 2017 (code).

• J. Liu, and N. Ozay, “Finite Abstractions with Robustness Margins for Temporal Logic-Based Control Synthesis”, Nonlinear Analysis: Hybrid Systems, Vol. 22: 1-15, November 2016. NAHS Paper Prize Award

• S. Balachandran, N. Ozay, and E. M. Atkins, “Verification Guided Refinement of a Flight Safety Assessment and Management System for Takeoff”, AIAA Journal of Aerospace Information Systems, 13(9):357-369, September 2016.

• P. Nilsson, O. Hussien, A. Balkan, Y. Chen, A. D. Ames, J. W. Grizzle, N. Ozay, H. Peng, and P. Tabuada, “Correct-By-Construction Adaptive Cruise Control: Two Approaches”, IEEE Transactions on Control Systems Technology, 24(4):1294-1307, July 2016.

• N. Ozay, C. M. Lagoa, and M. Sznaier, “Set Membership Identification of Switched Linear Systems with Known Number of Subsystems”, Automatica, Vol. 51: 180-191, January 2015.

• N. Ozay, M. Sznaier, and C. M. Lagoa, “Convex Certificates for Model (In)validation of Switched Affine Systems with Unknown Switches”, IEEE Transactions on Automatic Control (Special issue on Relaxation Methods in Identification and Estimation Problems), 59(11):2921-2932, November 2014.

• R. Rogersten, H. Xu, N. Ozay, U. Topcu, and R. M. Murray, “Control Software Synthesis and Validation for a Vehicular Electric Power Distribution Testbed”, AIAA Journal of Aerospace Information Systems (Special Section on Software Challenges in Aerospace), 11(10):665-678, October 2014.

• P. Nuzzo, H. Xu, N. Ozay, J. B. Finn, A. L. Sangiovanni-Vincentelli, R. M. Murray, A. Donze, and S. A. Seshia, “A Contract-Based Methodology for Aircraft Electric Power System Design”, IEEE Access, 2:1-25, 2014.

• J. Liu, N. Ozay, U. Topcu, and R. M. Murray, “Synthesis of Reactive Switching Protocols from Temporal Logic Specifications”, IEEE Transactions on Automatic Control, 58(7):1771-1785, July 2013.

• N. Ozay, M. Sznaier, C. M. Lagoa, and O. Camps, “A Sparsification Approach to Set Membership Identification of Switched Affine Systems”, IEEE Transactions on Automatic Control, 57(3):634-648, March 2012.

• M. Sznaier, C. M. Lagoa, and N. Ozay, “Risk-adjusted output feedback receding horizon control of constrained linear parameter varying systems”, International Journal of Robust and Nonlinear Control (Special issue on Nonlinear Model Predictive Control), 17(17):1614-1633, 2007.

Book Chapters

• P. Nilsson and N. Ozay, “Provably-Correct Compositional Synthesis of Vehicle Safety Systems” in Safe, Autonomous and Intelligent Vehicles as part of Springer’s Unmanned System Technologies series (eds. H. Yu, X. Li, R. M. Murray, S. Ramesh, C. J. Tomlin), 2019.

• F. Harirchi, S. Z. Yong, and N. Ozay, “Passive Diagnosis of Hidden-Mode Switched Affine Models with Detection Guarantees via Model Invalidation“ in Diagnosability, Security and Safety of Hybrid Dynamic and Cyber-Physical Systems (ed. M. Sayed-Mouchaweh), Springer 2018.

• C. Feng, N. Ozay, C. M. Lagoa, and M. Sznaier, “Identification and model (in)validation of switched ARX systems: Moment-based approaches”, in Linear Parameter-Varying System Identification: New Developments and Trends (eds. P.L. dos Santos, T.P.A. Perdicoulis, C. Novara, J.A. Ramos and D.E. Rivera), World Scientific, November 2011.

• M. Sznaier, O. Camps, N. Ozay, T. Ding, G. Tadmor, and D. Brooks, “The role of dynamics in extracting information sparsely encoded in high dimensional data streams”, in Dynamics of Information Systems: Theory and Applications (eds. M.J. Hirsch, P.M. Pardalos and R. Murphey), Springer 2010.

Some Favorite Short Reads (<= 5 pages)

• Z. Liu, N. Ozay, and E. Sontag, “On the Non-existence of Immersions for Systems with Multiple Omega-Limit Sets”, IFAC World Congress, Yokohoma, Japan, July 2023.

• L. Yang and N. Ozay, “Tight decomposition functions for mixed monotonicity”, Proc. 58th IEEE Conference on Decision and Control (CDC), Nice, France, December 2019.

• N. Ozay, “An exact and efficient algorithm for segmentation of ARX models”, Proc. American Control Conference (ACC), Boston, MA, July 2016.

Peer-reviewed Conference Papers

• R. Karagulle, N. Ozay, N. Arechiga, J. DeCastro, and A. Best, “Incorporating Logic in Online Preference Learning for Safe Personalization of Autonomous Vehicles”, 27th International Conference on Hybrid Systems: Computation and Control (HSCC), Hong Kong, China, May 2024. (to appear)

• M. Serry, L. Yang, N. Ozay, and J. Liu, “Safe Tracking Control of Discrete-Time Nonlinear Systems Using Backward Reachable Sets”, Proc. American Control Conference (ACC), Toronto, Canada, July 2024. (to appear)

• X. Zeng, Z. Liu, Z. Du, N. Ozay, and M. Sznaier, “On the Hardness of Learning to Stabilize Linear Systems”, Proc. 62nd IEEE Conference on Decision and Control (CDC), Singapore, December 2023.

• D. Raz, L. Yang, B. Umberger, and N. Ozay, “Determining the domain of stable human sit-to-stand motions via controlled invariant sets and backward reachability”, Proc. European Control Conference (ECC), Bucharest, Romania, June 2023.

• Z. Liu, N. Ozay, and E. Sontag, “On the Non-existence of Immersions for Systems with Multiple Omega-Limit Sets”, IFAC World Congress, Yokohoma, Japan, July 2023 (Open invited track paper).

• K. Rutledge, Y. Mei, and N. Ozay, “Controller Synthesis for Unknown-Mode Linear Systems with an Epistemic variant of LTL”, Proc. American Control Conference (ACC), San Diego, CA, May 2023.

• Z. Du*, Z. Liu*, J. Weitze, and N. Ozay, “Sample Complexity Analysis and Self-regularization in Identification of Over-parameterized ARX Models”, Proc. 61st IEEE Conference on Decision and Control (CDC), Cancun, Mexico, December 2022.*Equal contribution.

• Z. Liu and N. Ozay, “On the Convergence of the Backward Reachable Sets of Robust Controlled Invariant Sets For Discrete-time Linear Systems”, Proc. 61st IEEE Conference on Decision and Control (CDC), Cancun, Mexico, December 2022.

• Y. Sattar, S. Oymak, and N. Ozay, “Finite Time Identification of Bilinear Dynamical Systems”, Proc. 61st IEEE Conference on Decision and Control (CDC), Cancun, Mexico, December 2022.

• S. Jang, N. Ozay, and J. L. Mathieu, “Data-driven estimation of probabilistic constraints for network-safe distributed energy resource control”, Proc. Allerton Conference on Communication, Control, and Computing, Monticello, IL, September 2022.

• R. Karagulle, J. DeCastro, N. Arechiga, and N. Ozay, “Classification of driving behaviors using STL formulas: A Comparative Study”, Proc. 20th International Conference on Formal Modeling and Analysis of Timed Systems (FORMATS), Warsaw, Poland, September 2022.

• D. Li, M.L. Shehab, Z. Liu, N. Arechiga, J. DeCastro, and N. Ozay, “Outlier-robust Inverse Reinforcement Learning and Reward-based Detection of Anomalous Driving Behaviors” Proc. 25th IEEE Intelligent Transportation Systems Conference (ITSC), Macau, China, October 2022.

• G. Chou, N. Ozay, and D. Berenson, “Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory”, Proc. 15th International Workshop on the Algorithmic Foundations of Robotics (WAFR), College Park, MD, June 2022.

• Z. Du, N. Ozay, and L. Balzano, “Clustering-based Mode Reduction for Markov Jump Systems”, 4th Annual Learning for Dynamics & Control Conference (L4DC), Palo Alto, CA, June 2022.

• K. Rutledge and N. Ozay, “Correct-By-Construction Exploration and Exploitation for Unknown Linear Systems Using Bilinear Optimization”, 25th International Conference on Hybrid Systems: Computation and Control (HSCC), Milano, Italy, May 2022.

• A. Wintenberg, S. Lafortune, and N.Ozay, “A Dynamic Obfuscation Framework for Security and Utility”, 13th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), Milano, Italy, May 2022.

• Z. Du*, Y. Sattar*, D. Ataee-Tarzanagh, L. Balzano, N. Ozay, and S. Oymak, “Data-Driven Control of Markov Jump Systems: Sample Complexity and Regret Bounds”, Proc. American Control Conference (ACC), Atlanta, GA, June 2022. *Equal contribution.

• Y. Sattar*, Z. Du*, D. Ataee-Tarzanagh, S. Oymak, L. Balzano, and N. Ozay, “Certainty Equivalent Quadratic Control for Markov Jump Systems”, Proc. American Control Conference (ACC), Atlanta, GA, June 2022. *Equal contribution.

• A. Aspeel, K. Rutledge, R.M. Jungers, B. Macq, and N. Ozay, “Optimal Control for Linear Networked Control Systems with Information Transmission Constraints”, Proc. 60th IEEE Conference on Decision and Control (CDC), Austin, TX, December 2021.

• Z. Liu, T. Anevlavis, N. Ozay, and P. Tabuada, “Automaton-based Implicit Controlled Invariant Set Computation for Discrete-Time Linear Systems”, Proc. 60th IEEE Conference on Decision and Control (CDC), Austin, TX, December 2021.

• G. Chou, N. Ozay, and D. Berenson, “Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems”, Proc. 60th IEEE Conference on Decision and Control (CDC), Austin, TX, December 2021.

• A. Wintenberg, M. Blischke, S. Lafortune, and N. Ozay, “Enforcement of K-Step Opacity with Edit Functions”, Proc. 60th IEEE Conference on Decision and Control (CDC), Austin, TX, December 2021.

• D. Raz, E. Bolivar, N. Ozay, and R. D. Gregg, “Modeling and Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis”, Proc. IEEE Conference on Control Technology and Applications (CCTA), San Diego, CA, August 2021.

• L. Yang and N. Ozay, “Safety control synthesis for systems with missing measurements”, 7th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Brussels, Belgium, July 2021.

• Z. Liu and N. Ozay, “Safe Online Planning in Unknown Nonconvex Environments with Implicit Controlled Invariant Sets”, 7th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Brussels, Belgium, July 2021.

• Z. Liu and N. Ozay, “On the Value of Preview Information For Safety Control”, Proc. American Control Conference (ACC), New Orleans, LA, May 2021.

• S. Jang, N. Ozay, and J. L. Mathieu, “Large-Scale Invariant Sets for Safe Coordination of Thermostatic Loads”, Proc. American Control Conference (ACC), New Orleans, LA, May 2021 (video).

• T. Anevlavis*, Z. Liu*, N. Ozay, and P. Tabuada, “An enhanced hierarchy for (robust) controlled invariance”, Proc. American Control Conference (ACC), New Orleans, LA, May 2021. *Equal contribution.

• K. Rutledge*, G. Chou*, and N. Ozay, “Compositional Safety Rules for Inter-Triggering Hybrid Automata” 24th International Conference on Hybrid Systems: Computation and Control (HSCC), Nashville, TN, May 2021. *Equal contribution.

• D. Weyns, B. Schmerl, M. Kishida, A. Leva, M. Litoiu, N. Ozay, C. Paterson, and K. Tei, “Towards Better Adaptive Systems by Combining MAPE, Control Theory, and Machine Learning”, 16th Symposium on Software Engineering for Adaptive and Self-Managing Systems, Madrid, Spain, May 2021.

• S. Shoouri, S. Jalili, J. Xu, I. Gallagher, Y. Zhang, J. Wilhelm, N. Ozay, and J. B. Jeannin, “Falsification of a Vision-based Automatic Landing System”, 2021 AIAA SciTech Forum, January 2021.

• L. Yang and N. Ozay, “Efficient Safety Control Synthesis with Imperfect State Information”, Proc. 59th IEEE Conference on Decision and Control (CDC), Jeju Island, South Korea, December 2020.

• A. Wintenberg and N. Ozay, “Implicit Invariant Sets for High-Dimensional Switched Affine Systems”, Proc. 59th IEEE Conference on Decision and Control (CDC), Jeju Island, South Korea, December 2020.

• G. Chou, N. Ozay, and D. Berenson, “Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations”, Proc. Conference on Robot Learning (CoRL), November 2020.

• G. Chou, N. Ozay, and D. Berenson, “Explaining multi-stage tasks by learning temporal logic formulas from suboptimal demonstrations”, Robotics: Science and Systems (RSS), July 2020 (video).

• C. Knuth, G. Chou, N. Ozay, and D. Berenson, “Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations”, Proc. 14th International Workshop on the Algorithmic Foundations of Robotics (WAFR), Oulu, Finland, June 2020.

• M. Arwashan, T. Ge, Z. Liu, and N. Ozay, “Driving with guardian: Blending user inputs with safety ensuring barriers”, Proc. IEEE Conference on Control Technology and Applications (CCTA), Montreal, Canada, August 2020.

• L. Yang, D. Rizzo, M. Castanier, and N. Ozay, “Parameter Sensitivity Analysis of Controlled Invariant Sets via Value Iteration”, Proc. American Control Conference (ACC), Denver, CO, July 2020.

• Z. Liu, L. Yang, and N. Ozay, “Scalable Computation of Controlled Invariant Sets for Discrete-Time Linear Systems with Input Delays”, Proc. American Control Conference (ACC), Denver, CO, July 2020.

• K. Rutledge and N. Ozay, “Belief-prefix Control for Autonomously Dodging Switching Disturbances”, Proc. European Control Conference (ECC), Saint Petersburg, Russia, May 2020.

• R. Majumdar, N. Ozay, and A. K. Schmuck, “On Abstraction-Based Controller Design With Output Feedback”, 23rd International Conference on Hybrid Systems: Computation and Control (HSCC), Sydney, Australia, April 2020.

• Y. Zhang, G. Poupart-Lafarge, H. Teng, J. Wilhelm, J. B. Jeannin, N. Ozay, and E. Scholte, “A software architecture for autonomous taxiing of aircraft”, 2020 AIAA SciTech Forum, January 2020.

• Z. Du, N. Ozay, and L. Balzano, “Mode Clustering for Markov Jump Systems”, Proc. 2019 IEEE International Workshop on Computational Advances in Multi-Sensor Adaptive Processing (CAMSAP), Guadeloupe, West Indies, December 2019. Best Student Paper Award, 3rd place

• Z. Liu and N. Ozay, “Safety Control with Preview Automaton”, Proc. 58th IEEE Conference on Decision and Control (CDC), Nice, France, December 2019.

• L. Yang and N. Ozay, “Tight decomposition functions for mixed monotonicity”, Proc. 58th IEEE Conference on Decision and Control (CDC), Nice, France, December 2019.

• L. Yang and N. Ozay, “Fault Detectability Analysis of Switched Affine Systems with Linear Temporal Logic Constraints”, Proc. 58th IEEE Conference on Decision and Control (CDC), Nice, France, December 2019.

• G. Chou, N. Ozay, and D. Berenson, “Learning Parametric Constraints in High Dimensions from Demonstrations”, Proc. Conference on Robot Learning (CoRL), Osaka, Japan, October 2019.

• Y. E. Sahin*, Z. Liu*, K. J. Rutledge*, D. Panagou, S. Z. Yong, N. Ozay, “Intention-Aware Supervisory Control with Driving Safety Applications”, Proc. IEEE Conference on Control Technology and Applications (CCTA), Hong Kong, China, August 2019. *Equal contribution.

• L.Yang, A. Karnik, and N. Ozay, “Quickly Finding Recursively Feasible Solutions for MPC with Discrete Variables”, Proc. IEEE Conference on Control Technology and Applications (CCTA), Hong Kong, China, August 2019.

• S. Oymak and N. Ozay, “Non-asymptotic Identification of LTI Systems from a Single Trajectory”, Proc. American Control Conference (ACC), Philadelphia, PA, July 2019.

• K. J. Rutledge, S. Z. Yong, and N. Ozay, “Prefix-based Bounded-error Estimation with Intermittent Observations”, Proc. American Control Conference (ACC), Philadelphia, PA, July 2019.

• L. Yang, X. Cui, A. Avestruz, and N. Ozay, "Correct-by-construction control synthesis for buck converters with event-triggered state measurement”, Proc. American Control Conference (ACC), Philadelphia, PA, July 2019.

• S. Ross, P. Nilsson, N. Ozay, and J. L. Mathieu, “Managing Voltage Excursions on the Distribution Network by Limiting the Aggregate Variability of Thermostatic Loads”, Proc. American Control Conference (ACC), Philadelphia, PA, July 2019.

• V. S. Chipade, Q. Shen, L. Huang, N. Ozay, S. Z. Yong, and D. Panagou, “Safe Autonomous Overtaking with Intention Estimation”, Proc. European Control Conference (ECC), Napoli, Italy, June 2019.

• S. Ross, N. Ozay, and J. L. Mathieu, “Coordination between an Aggregator and Distribution Operator to Achieve Network-Aware Load Control”, Proc. IEEE PowerTech, Milano, Italy, June 2019.

• G. Chou, D. Berenson, and N. Ozay, “Learning Constraints from Demonstrations”, Proc. 13th International Workshop on the Algorithmic Foundations of Robotics (WAFR), Merida, Mexico, December 2018.

• L. Yang and N. Ozay, "Fault-tolerant output-feedback path planning with temporal logic constraints”, Proc. 57th IEEE Conference on Decision and Control (CDC), Miami Beach, FL, December 2018.

• Y. Chen, H. Peng, J. W. Grizzle, and N. Ozay, "Data-driven computation of minimal robust control invariant set”, Proc. 57th IEEE Conference on Decision and Control (CDC), Miami Beach, FL, December 2018.

• S. Ghosh, M. Kara, and N. Ozay, “Structural Detectability of Faults in Discrete-Time Affine Systems”, Proc. 57th IEEE Conference on Decision and Control (CDC), Miami Beach, FL, December 2018.

• Y. E. Sahin, N. Ozay, and S. Tripakis, “Multi-Agent Coordination Subject to Counting Constraints: A Hierarchical Approach”, Proc. Int. Symp. on Distributed Autonomous Robotic Systems (DARS), Boulder, CO, October 2018.

• K. J. Rutledge, S. Z. Yong, and N. Ozay, “Optimization-Based Design of Bounded-Error Estimators Robust to Missing Data”, Proc. 6th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Oxford, UK, July 2018.

• O. Bulancea Lindvall, P. Nilsson, and N. Ozay, “Nonuniform abstractions, refinement and controller synthesis with novel BDD encodings”, Proc. 6th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Oxford, UK, July 2018.

• K. R. Singh, Y. Ding, N. Ozay, and S. Z. Yong, “Input Design for Nonlinear Model Discrimination via Affine Abstraction”, Proc. 6th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Oxford, UK, July 2018.

• Z. Du, L. Balzano, and N. Ozay, “A Robust Algorithm for Online Switched System Identification”, Proc. 18th IFAC Symposium on System Identification (SYSID), Stockholm, Sweden, July 2018.

• G. Chou, N. Ozay, and D. Berenson, “Incremental Segmentation of ARX Models”, Proc. 18th IFAC Symposium on System Identification (SYSID), Stockholm, Sweden, July 2018.

• S. Z. Yong and N. Ozay, “Discrete State Estimation with Persistent Sensor Faults and Non-Persistent Noise via Noisy Bayesian Active Diagnosis”, Proc. American Control Conference (ACC), Milwaukee, WI, June 2018. [Note: this paper inherits an error from YGO, ACC 2017.]

• Y. Ding*, F. Harirchi*, S. Z. Yong*, E. Jacobsen, and N. Ozay, “Optimal Input Design for Affine Model Discrimination with Applications in Intention-Aware Vehicles”, 9th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), Porto, Portugal, April 2018. *Equal contribution. [Note: the published version of this paper has an error, which is corrected in the arXiv version]

• Y. E. Sahin, P. Nilsson, and N. Ozay, “Synchronous and Asynchronous Multi-agent Coordination with cLTL+ Constraints”, Proc. 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, December 2017.

• L. Yang and N. Ozay, “Provably-Correct Fault Tolerant Control with Delayed Information”, Proc. 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, December 2017.

• P. Nilsson and N. Ozay, “Maximizing the Time of Invariance for Large Collections of Switched Systems”, Proc. 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, December 2017.

• F. Harirchi, S. Z. Yong, and N. Ozay, “Guaranteed Fault Detection and Isolation for Switched Affine Models”, Proc. 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, December 2017.

• F. Harirchi*, S. Z. Yong*, E. Jacobsen*, and N. Ozay, “Active Model Discrimination with Applications to Fraud Detection in Smart Buildings”, IFAC World Congress, Toulouse, France, July 2017 (Open invited track paper). *Equal contribution.

• L. Yang and N. Ozay, “Robustification and Parametrization of Switching Controllers for a Class of Set Invariance Problems”, IFAC World Congress, Toulouse, France, July 2017.

• S. Z. Yong, L. Gao, and N. Ozay, “Weak Adaptive Submodularity and Group-Based Active Diagnosis with Applications to State Estimation with Persistent Sensor Faults”, Proc. American Control Conference (ACC), Seattle, WA, May 2017. [Note: one of the main results in this paper has an error; see here.]

• L. Yang, A. Karnik, B. Pence, M. T. B. Waez, and N. Ozay, “Fuel Cell Thermal Management: Modeling, Specifications and Correct-by-Construction Control Synthesis”, Proc. American Control Conference (ACC), Seattle, WA, May 2017 (invited paper).

• P. Nilsson and N. Ozay, “On a class of maximal invariance inducing control strategies for large collections of switched systems”, 20th International Conference on Hybrid Systems: Computation and Control (HSCC), Pittsburgh, April 2017.

• Y. E. Sahin, P. Nilsson, and N. Ozay, “Provably-correct coordination of large collections of agents with counting temporal logic constraints”, 8th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), Pittsburgh, April 2017.

• S. W. Smith, P. Nilsson, and N. Ozay, “Interdependence quantification for compositional control synthesis with an application in vehicle safety systems", Proc. 55th IEEE Conference on Decision and Control (CDC), Las Vegas, NV, December 2016.

• A. Wagenmaker and N. Ozay, “A bisimulation-like algorithm for abstracting control systems”, Proc. Allerton Conference on Communication, Control, and Computing, Monticello, IL, September 2016.

• Y. E. Sahin and N. Ozay, “SAT-based Distributed Reactive Control Protocol Synthesis for Boolean Networks”, Proc. Multi-conference on Systems and Control (MSC), Buenos Aires, September 2016.

• I. Filippidis, S. Dathathri, S. C. Livingston, N. Ozay, and R. M. Murray “Control design for hybrid systems with TuLiP: The temporal logic planning toolbox”, Proc. Multi-conference on Systems and Control (MSC), Buenos Aires, September 2016 (tutorial paper).

• P. Nilsson and N. Ozay, “Synthesis of separable controlled invariant sets for modular local control design”, Proc. American Control Conference (ACC), Boston, MA, July 2016.

• L. Yang, N. Ozay, and A. Karnik “Synthesis of Fault Tolerant Switching Protocols for Vehicle Engine Thermal Management”, Proc. American Control Conference (ACC), Boston, MA, July 2016.

• F. Harirchi, Z. Luo, and N. Ozay, “Model (In)validation and Fault Detection for Systems with Polynomial State-Space Models”, Proc. American Control Conference (ACC), Boston, MA, July 2016. Best Presentation in Session

• N. Ozay, “An exact and efficient algorithm for segmentation of ARX models”, Proc. American Control Conference (ACC), Boston, MA, July 2016.

• P. Nilsson and N. Ozay, “Control synthesis for large collections of systems with mode-counting constraints”, 19th International Conference on Hybrid Systems: Computation and Control (HSCC), Vienna, April 2016.

• X. Xu, N. Ozay, and V. Gupta, “Passivity Degradation In Discrete Control Implementations: An Approximate Bisimulation Approach”, Proc. 54th IEEE Conference on Decision and Control (CDC), Osaka, Japan, December 2015 (invited paper).

• F. Harirchi, and N. Ozay, “Model Invalidation for Switched Affine Systems with Applications to Fault and Anomaly Detection”, Proc. 5th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Atlanta, GA, October 2015.

• Y. Li, J. Liu, and N. Ozay, “Computing finite abstractions with robustness margins via local reachable set over-approximation”, Proc. 5th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Atlanta, GA, October 2015.

• C. R. He, W. Qin, N. Ozay, and G. Orosz, “Hybrid System Based Analytical Approach for Optimal Gear Shifting Schedule Design”, Proc. of ASME Dynamic Systems and Control Conference (DSCC), Columbus, OH, October 2015. Best Student Paper Award Finalist

• P. Nilsson, and N. Ozay, “Incremental Synthesis of Switching Protocols via Abstraction Refinement”, Proc. 53rd IEEE Conference on Decision and Control (CDC), Los Angeles, CA, December 2014.

• P. Nilsson, O. Hussien, Y. Chen, A. Balkan, M. Rungger, A. D. Ames, J. W. Grizzle, N. Ozay, H. Peng, and P. Tabuada, “Preliminary Results on Correct-by-Construction Control Software Synthesis for Adaptive Cruise Control”, Proc. 53rd IEEE Conference on Decision and Control (CDC), Los Angeles, CA, December 2014 (invited paper).

• M. Sznaier, O. I. Camps, N. Ozay, and C. M. Lagoa, “Surviving the Upcoming Data Deluge: A Systems and Control Perspective”, Proc. 53rd IEEE Conference on Decision and Control (CDC), Los Angeles, CA, December 2014 (tutorial paper).

• O. Mickelin, N. Ozay, and R. M. Murray, “Synthesis of Correct-by-construction Control Protocols for Hybrid Systems Using Partial State Information”, Proc. American Control Conference (ACC), Portland OR, June 2014 (invited paper). Best Presentation in Session

• F. Sun, N. Ozay, E. M. Wolff, J. Liu and R. M. Murray, “Efficient control synthesis for augmented finite transition systems with an application to switching protocols”, Proc. American Control Conference (ACC), Portland OR, June 2014.

• J. Liu, and N. Ozay, “Abstraction, Discretization, and Robustness in Temporal Logic Control of Dynamical Systems”, 17th International Conference on Hybrid Systems: Computation and Control (HSCC), Berlin, April 2014.

• Q. Maillet, H. Xu, N. Ozay, and R. M. Murray, “Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity”, Proc. 52nd IEEE Conference on Decision and Control (CDC), Florence, Italy, December 2013.

• N. Ozay, J. Liu, P. Prabhakar, and R. M. Murray, “Computing Augmented Finite Transition Systems to Synthesize Switching Protocols for Polynomial Switched Systems”, Proc. American Control Conference (ACC), Washington DC, June 2013.

• R. Rogersten, H. Xu, N. Ozay, U. Topcu, and R. M. Murray, “An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols”, 16th International Conference on Hybrid Systems: Computation and Control (HSCC), Philadelphia, PA, April 2013.

• Y. Cheng, Y. Wang, M. Sznaier, N. Ozay, and C. M. Lagoa, “A Convex Optimization Approach to Model (In)validation of Switched ARX Systems with Unknown Switches”, Proc. 51st IEEE Conference on Decision and Control, Maui, Hawaii, December 2012 (invited paper).

• J. Liu, U. Topcu, N. Ozay, and R. M. Murray, “Reactive Controllers for Differentially Flat Systems with Temporal Logic Constraints”, Proc. 51st IEEE Conference on Decision and Control, Maui, Hawaii, December 2012 (invited paper).

• P. Nilsson, N. Ozay, U. Topcu, and R. M. Murray, “Temporal Logic Control of Switched Affine Systems with an Application in Fuel Balancing”, Proc. American Control Conference (ACC), Montreal, Canada, June 2012.

• J. Liu, N. Ozay, U. Topcu, and R. M. Murray, “Synthesis of Switching Protocols from Temporal Logic Specifications”, Proc. American Control Conference (ACC), Montreal, Canada, June 2012 (invited paper).

• U. Topcu, N. Ozay, J. Liu, and R. M. Murray, “On Synthesizing Robust Discrete Controllers under Modeling Uncertainty”, 15th International Conference on Hybrid Systems: Computation and Control (HSCC), Beijing, China, April 2012.

• N. Ozay, U. Topcu, and R. M. Murray, “Distributed power allocation for vehicle management systems”, Proc. 50th IEEE Conference on Decision and Control and European Control Conference (CDC/ECC), Orlando, FL, December 2011 (invited paper).

• N. Ozay, and M. Sznaier, “Hybrid system identification with faulty measurements and its application to activity analysis”, Proc. 50th IEEE Conference on Decision and Control and European Control Conference (CDC/ECC), Orlando, FL, December 2011 (invited paper).

• M. Ayazoglu, M. Sznaier, and N. Ozay, “Blind identification of sparse dynamic networks and applications”, Proc. 50th IEEE Conference on Decision and Control and European Control Conference (CDC/ECC), Orlando, FL, December 2011.

• N. Ozay, U. Topcu, T. Wongpiromsarn, and R. M. Murray, “Distributed Synthesis of Control Protocols for Smart Camera Networks”, ACM/IEEE Second International Conference on Cyber-Physical Systems (ICCPS), Chicago, IL, April 2011. (27% acceptance rate)

• T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R. M. Murray, “TuLiP: a software toolbox for receding horizon temporal logic planning”, 14th International Conference on Hybrid Systems: Computation and Control (HSCC), Chicago, IL, April 2011.

• N. Ozay, M. Sznaier, and C. M. Lagoa, “Model (In)validation of Switched ARX Systems with Unknown Switches and its Application to Activity Monitoring”, Proc. 49th IEEE Conference on Decision and Control (CDC), Atlanta, GA, December 2010.

• C. Feng, C. M. Lagoa, N. Ozay, and M. Sznaier, “Hybrid System Identification: An SDP Approach”, Proc. 49th IEEE Conference on Decision and Control (CDC), Atlanta, GA, December 2010.

• S. Kurugol, N. Ozay, J. G. Dy, G. C. Sharp, and D. Brooks, “Locally Deformable Shape Model to Improve 3D Level Set based Esophagus Segmentation”, Proc. 20th International Conference on Pattern Recognition (ICPR), Istanbul, August 2010. (18% oral presentation acceptance rate)

• N. Ozay, M. Sznaier, C. M. Lagoa, and O. Camps, “GPCA with Denoising: A Moments-Based Convex Approach”, Proc. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), San Francisco, CA, June 2010. (27% acceptance rate)

• S. Kurugol, N. Ozay, G. C. Sharp, J. G. Dy, and D. Brooks, “3D Segmentation of Esophagus in Thoracic CT Images for Radiation Therapy Planning”, Proc. 16th International Conference on the Use of Computers in Radiation Therapy (ICCR), Amsterdam, May 2010.

• N. Ozay, C. M. Lagoa, and M. Sznaier, “Robust identification of switched affine systems via moments- based convex optimization”, Proc. 48th IEEE Conference on Decision and Control (CDC), Shanghai, P.R. China, December 2009.

• N. Ozay, Y. Tong, F. W. Wheeler, and X. Liu, “Improving Face Recognition with a Quality-based Probabilistic Framework”, Proc. IEEE Computer Society Workshop on Biometrics (in conjunction with CVPR 2009), pages 134-141, June 2009. Best Paper Honorable Mention Award

• N. Ozay, M. Sznaier, C. M. Lagoa, and O. Camps, “A Sparsification Approach to Set Membership Identification of a Class of Affine Hybrid Systems”, Proc. 47th IEEE Conference on Decision and Control (CDC), pages 123-130, Cancun, Mexico, December 2008. Best Student Paper Award

• N. Ozay, M. Sznaier, and O. Camps, “Sequential Sparsification for Change Detection”, Proc. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Anchorage, Alaska, June 2008. (32% acceptance rate)

• N. Ozay, and M. Sznaier, “A Pessimistic Approach to Frequency Domain Model (In)Validation”, Proc. 46th IEEE Conference on Decision and Control (CDC), pages 4895-4900, New Orleans, December 2007.

• M. Sznaier, C. M. Lagoa, and N. Ozay, “Risk-adjusted output feedback receding horizon control of constrained linear parameter varying systems”, Proc. European Control Conference (ECC), Kos, Greece, July 2007.

• R. Lublinerman, N. Ozay, D. Zarpalas, and O. Camps, “Activity Recognition from Silhouettes Using Linear Systems and Model (In)validation Techniques”, Proc. 18th International Conference on Pattern Recognition (ICPR), pages 347-350, August 2006.

Techreports

• Z. Liu, N. Perrin, and N. Ozay, “Warm-Starting Fixed-Point Based Control Synthesis”, University of Michigan, Department of Electrical Engineering and Computer Science, technical report, 2018.

• L. Yang and N. Ozay, “A note on some sufficient conditions for mixed monotone systems”, University of Michigan, Department of Electrical Engineering and Computer Science, technical report, 2017.

• J. Liu, N. Ozay, U. Topcu, and R. M. Murray, “Synthesis of Switching Protocols from Temporal Logic Specifications”, California Institute of Technology, Control and Dynamical Systems, technical report, 2011.

Theses

• N. Ozay, “Convex Relaxations for Robust Identification of Hybrid Models”, Ph.D. Dissertation, Northeastern University, Boston, MA, June 2010.

• N. Ozay, “Receding Horizon Control of Linear Parameter Varying Systems”, Master's Paper, The Pennsylvania State University, University Park, PA, May 2006.

Please feel free to email me for preprints.