@inproceedings{Zhao26-STLMPPI,
  title = {Safety-aware Model Predictive Path Integral Control with Signal Temporal Logic},
  author = {Yiqi Zhao and Taekyung Kim and Hideki Okamoto and Bardh Hoxha and Jyotirmoy V. Deshmukh and Lars Lindemann and Georgios Fainekos},
  booktitle = {arXiv preprint arXiv:2608.23972, 2026},
  year = {2026},
  url = {https://arxiv.org/abs/2608.23972},
  keywords = {Optimal Planning and Safe Control, Barrier Function Methods},
}

@inproceedings{Khandait26-DiffTilt,
  title = {Diffusion-Guided Search via Exponential Tilting (DiffTilt): An Application to Falsification of Safety-Critical Systems},
  author = {Tanmay Khandait and Preetom Biswas and Hideki Okamoto and Bardh Hoxha and Georgios Fainekos and Giulia Pedrielli},
  booktitle = {International Conference on Embedded Software (EMSOFT), 2026},
  year = {2026},
  url = {https://arxiv.org/abs/2607.23134},
  keywords = {Testing, Falsification, and Specification, Learning-based Control and Analysis, Risk and Stochasticity},
}

@inproceedings{Miao26-FalconTrack,
  title = {FalconTrack: Photorealistic Auto-Labeled Perception and Physics-Aware Vision-Based Aerial Tracking},
  author = {Yan Miao and Karteek Gandiboyina and Noah Giles and Hideki Okamoto and Bardh Hoxha and Georgios Fainekos and Sayan Mitra},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026},
  year = {2026},
  url = {https://arxiv.org/abs/2606.29783},
  keywords = {Learning-based Control and Analysis, Autonomous Mobility and Planning},
}

@inproceedings{Oura26-CausalMDP,
  title = {Sample-Efficient Learning of Probabilistic Causes for Reachability in Markov Decision Processes with Probabilistic Guarantees},
  author = {Ryohei Oura and Georgios Fainekos and Hideki Okamoto and Bardh Hoxha},
  booktitle = {Conference on Uncertainty in Artificial Intelligence (UAI), 2026},
  year = {2026},
  award = {Oral Presentation (Top 2%)},
  url = {https://arxiv.org/abs/2606.29681},
  keywords = {Risk and Stochasticity, Learning-based Control and Analysis, Verification and Reachability},
}

@inproceedings{Wang26-RLRiskCVaR,
  title = {Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions},
  author = {Xinyi Wang and Taekyung Kim and Bardh Hoxha and Georgios Fainekos and Dimitra Panagou},
  booktitle = {arXiv preprint arXiv:2605.21257, 2026},
  year = {2026},
  url = {https://arxiv.org/abs/2605.21257},
  keywords = {Risk and Stochasticity, Optimal Planning and Safe Control, Learning-based Control and Analysis},
}

@inproceedings{Kim26-PolicyLibraryCBF,
  title = {Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts},
  author = {Taekyung Kim and Hideki Okamoto and Bardh Hoxha and Georgios Fainekos and Dimitra Panagou},
  booktitle = {arXiv preprint arXiv:2605.16588, 2026},
  year = {2026},
  url = {https://arxiv.org/abs/2605.16588},
  keywords = {Optimal Planning and Safe Control, Runtime Verification and Monitoring},
}

@inproceedings{Hoxha26-VisionRTM,
  title = {Vision-Based Runtime Monitoring under Varying Specifications using Semantic Latent Representations},
  author = {Bardh Hoxha and Oliver Schön and Hideki Okamoto and Lars Lindemann and Georgios Fainekos},
  booktitle = {arXiv preprint arXiv:2605.13923, 2026},
  year = {2026},
  url = {https://arxiv.org/abs/2605.13923},
  keywords = {Runtime Verification and Monitoring, Learning-based Control and Analysis},
}

@inproceedings{Hoxha26-BRACBF,
  title = {Bayesian Risk-Aware CBFs for Discrete-Time Stochastic Systems with Learned Dynamics},
  author = {Bardh Hoxha and Mitchell Black and Keyvan Majd and Hideki Okamoto and Georgios Fainekos and Danil Prokhorov},
  booktitle = {American Control Conference (ACC), 2026},
  year = {2026},
  url = {papers/2026-acc-hoxha.pdf},
  keywords = {Risk and Stochasticity, Optimal Planning and Safe Control, Learning-based Control and Analysis},
}

@inproceedings{Anderson25-STG,
  title = {Spatio-Temporal Grounding of Large Language Models from Perception Streams},
  author = {Jacob Anderson and Bardh Hoxha and Georgios Fainekos and Hideki Okamoto and Danil V. Prokhorov},
  booktitle = {NeurIPS 2025 Workshop on Space in Vision, Language, and Embodied AI},
  year = {2025},
  url = {https://arxiv.org/pdf/2604.07592},
  keywords = {Runtime Verification and Monitoring, Learning-based Control and Analysis},
}

@inproceedings{Kim25-SafeMPD,
  title = {Safe Model Predictive Diffusion with Shielding},
  author = {Taekyung Kim and Keyvan Majd and Bardh Hoxha and Hideki Okamoto and Dimitra Panagou and Georgios Fainekos},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA), 2026},
  year = {2026},
  url = {https://arxiv.org/abs/2512.06261},
  keywords = {Optimal Planning and Safe Control, Learning-based Control and Analysis},
}

@inproceedings{Anderson25-LogSTOP,
  title = {LogSTOP: Temporal Scores over Prediction Sequences for Matching and Retrieval},
  author = {Avishree Khare, Hideki Okamoto, Bardh Hoxha, Georgios Fainekos, Rajeev Alur},
  booktitle = {arXiv preprint, 2025},
  year = {2025},
  url = {https://arxiv.org/pdf/2510.06512},
  keywords = {Runtime Verification and Monitoring, Learning-based Control and Analysis},
}

@inproceedings{Miao25-FalconGym,
  title = {Performance-Guided Refinement for Visual Aerial Navigation using Editable Gaussian Splatting in FalconGym 2.0},
  author = {Yan Miao, Ege Yuceel, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Sayan Mitra},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA), 2026},
  year = {2026},
  url = {https://arxiv.org/pdf/2510.02248},
  keywords = {Learning-based Control and Analysis, Autonomous Mobility and Planning},
}

@article{Li26,
  title = {Quantitative Verification of Learning-Enabled Systems using ProbStar Reachability},
  author = {Yuntao Li and Sung Woo Choi and Hideki Okamoto and Bardh Hoxha and Georgios Fainekos and Hoang-Dung Tran},
  booktitle = {Nonlinear Analysis: Hybrid Systems 2026},
  year = {2026},
  url = {https://www.sciencedirect.com/science/article/abs/pii/S1751570X25000494},
  keywords = {Learning-based Control and Analysis, Verification and Reachability},
}

@inproceedings{Fronda26-Firefly,
  title = {FiReFly: Fair Distributed Receding Horizon Planning for Multiple UAVs},
  author = {Nathan Fronda and Bardh Hoxha and Houssam Abbas},
  booktitle = {IEEE Intelligent Transportation Systems Conference (ITSC), 2026},
  year = {2026},
  url = {https://arxiv.org/pdf/2508.14381},
  keywords = {Multi-Agent Systems, Optimal Planning and Safe Control},
}

@inproceedings{Fronda26-FairCoPlan,
  title = {Fair-CoPlan: Negotiated Flight Planning with Fair Deconfliction for Urban Air Mobility},
  author = {Nathan Fronda and Peter Smith and Bardh Hoxha and Yash Pant and Houssam Abbas},
  booktitle = {IEEE Intelligent Transportation Systems Conference (ITSC), 2026},
  year = {2026},
  url = {https://arxiv.org/pdf/2508.14380},
  keywords = {Multi-Agent Systems, Autonomous Mobility and Planning},
}

@inproceedings{Yamaguchi25,
  title = {Scalable Multi-Agent Path Finding for Delivery Robot Systems with Temporal and Edge Capacity Constraints on Weighted Graphs},
  author = {Tomoya Yamaguchi and Ippei Nishitani and Yusuke Ota and Bardh Hoxha and Georgios Fainekos},
  booktitle = {2025 IEEE 21st International Conference on Automation Science and Engineering (CASE), 2025},
  year = {2025},
  url = {https://ieeexplore.ieee.org/abstract/document/11164139},
  keywords = {Multi-Agent Systems, Task Allocation and Path Planning},
}

@inproceedings{Majd25,
  title = {GPU-Accelerated Barrier-Rate Guided MPPI Control for Tractor-Trailer Systems},
  author = {Keyvan Majd and Hardik Parwana and Bardh Hoxha and Steven Hong and Hideki Okamoto and Georgios Fainekos},
  booktitle = {IEEE Intelligent Transportation Systems Conference (ITSC), 2025},
  year = {2025},
  url = {https://arxiv.org/abs/2508.05773},
  keywords = {Optimal Planning and Safe Control, Barrier Function Methods},
}

@article{Zhao25-STLGO,
  title = {STL-GO: Spatio-Temporal Logic with Graph Operators for Distributed Systems with Multiple Network Topologies},
  author = {Yiqi Zhao and Xinyi Yu and Bardh Hoxha and Georgios Fainekos and Jyotirmoy Deshmukh and Lars Lindemann},
  booktitle = {ACM Transactions on Embedded Computing Systems (TECS), 2025},
  year = {2025},
  url = {https://dl.acm.org/doi/pdf/10.1145/3760258},
  keywords = {Spatio-Temporal Logic, Distributed Systems and Networks},
}

@article{Zhang25,
  title = {Conformal Prediction in the Loop: Risk-Aware Control Barrier Functions for Stochastic Systems with Data-Driven State Estimators},
  author = {Jiaqi Zhang and Bardh Hoxha and Georgios Fainekos and Dimitra Panagou},
  booktitle = {IEEE Control Systems Letters, 2025},
  year = {2025},
  url = {papers/letters-zhang-2025.pdf},
  keywords = {Risk and Stochasticity, Optimal Planning and Safe Control},
}

@inproceedings{HSCC2025-probstar,
  title = {ProbStar Temporal Logic for Verifying Complex Behaviors of Learning-enabled Systems},
  author = {Hoang-Dung Tran and Sung Woo Choi and Yuntao Li and Hideki Okamoto and Bardh Hoxha and Georgios Fainekos},
  booktitle = {28th ACM International Conference on Hybrid Systems: Computation and Control (HSCC), 2025},
  year = {2025},
  url = {papers/hscc-tran-2025.pdf},
  keywords = {Runtime Verification and Monitoring, Learning-based Control and Analysis},
}

@inproceedings{Parwana25,
  title = {BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field},
  author = {Hardik Parwana and Taekyung Kim and Kehan Long and Bardh Hoxha and Hideki Okamoto and Georgios Fainekos and Dimitra Panagou},
  booktitle = {arXiv:2506.07325, 2025},
  year = {2025},
  url = {https://arxiv.org/pdf/2506.07325},
  keywords = {Optimal Planning and Safe Control, Learning-based Control and Analysis},
}

@inproceedings{Tran25-CAV,
  title = {StarV: A Qualitative and Quantitative Verification Tool for Learning-Enabled Systems},
  author = {Hoang-Dung Tran and Sung Woo Choi and Yuntao Li and Qing Liu and Hideki Okamoto and Bardh Hoxha and Georgios Fainekos},
  booktitle = {International Conference on Computer Aided Verification (CAV), 2025},
  year = {2025},
  url = {papers/2025_StarV.pdf},
  keywords = {Formal Methods and Verification, Learning-based Control and Analysis},
}

@article{Zhao25,
  title = {Distributionally Robust Predictive Runtime Verification under Spatio-Temporal Logic Specifications},
  author = {Yiqi Zhao and Emily Zhu and Bardh Hoxha and Georgios Fainekos and Jyotirmoy V Deshmukh and Lars Lindemann},
  booktitle = {Transactions on Cyber-Physical Systems (TCPS), 2025},
  year = {2025},
  url = {https://arxiv.org/abs/2504.02964},
  keywords = {Runtime Verification and Monitoring},
}

@inproceedings{Wang25,
  title = {Safe Navigation in Uncertain Crowded Environments Using Risk Adaptive CVaR Barrier Functions},
  author = {Xinyi Wang and Taekyung Kim and Bardh Hoxha and Georgios Fainekos and Dimitra Panagou},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025},
  year = {2025},
  url = {https://arxiv.org/abs/2504.06513},
  keywords = {Motion Planning and Control},
}

@article{NAHS2025,
  title = {Reachability Analysis of Recurrent Neural Networks},
  author = {Sung Woo Choi and Yuntao Li and Xiaodong Yang and Tomoya Yamaguchi and Bardh Hoxha and Georgios Fainekos and Danil Prokhorov and Hoang-Dung Tran},
  booktitle = {Nonlinear Analysis: Hybrid Systems, 2025},
  year = {2025},
  url = {https://www.sciencedirect.com/science/article/abs/pii/S1751570X2500007X},
  keywords = {Learning-based Control and Analysis, Runtime Verification and Monitoring},
}

@article{TCPS2025,
  title = {Scaling Learning-based Policy Optimization for Temporal Logic Tasks by Controller Network Dropout},
  author = {Navid Hashemi and Bardh Hoxha and Danil Prokhorov and Georgios Fainekos and Jyotirmoy V Deshmukh},
  booktitle = {Transactions on Cyber-Physical Systems, 2025},
  year = {2025},
  url = {https://dl.acm.org/doi/full/10.1145/3696112},
  keywords = {Learning-based Control and Analysis},
}

@inproceedings{MPPI2024,
  title = {Risk-aware MPPI for Stochastic Hybrid Systems},
  author = {Hardik Parwana and Mitchell Black and Bardh Hoxha and Hideki Okamoto and Georgios Fainekos and Danil Prokhorov and Dimitra Panagou},
  booktitle = {American Control Conference, 2025},
  year = {2025},
  url = {https://ar5iv.org/pdf/2411.09198},
  video = {https://private-user-images.githubusercontent.com/19849515/371942037-c75edbed-d587-4282-b8d9-2c74940301af.mp4?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MzMzNTM0NDgsIm5iZiI6MTczMzM1MzE0OCwicGF0aCI6Ii8xOTg0OTUxNS8zNzE5NDIwMzctYzc1ZWRiZWQtZDU4Ny00MjgyLWI4ZDktMmM3NDk0MDMwMWFmLm1wND9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDEyMDQlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQxMjA0VDIyNTkwOFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWNjNDgyMzBlNzhhMjkzN2U2OGYwNGQ4ODc3YzVjNDNjZTUzODZjODZkMDhhNzVkYjQ4YzE2OGRmMzc0M2VjZjYmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0In0.i6mV0WsRAf8IyiRq4VRd3Yw5v7xznrUcIFOxzhcgnls},
  code = {https://github.com/hardikparwana/social-navigation},
  keywords = {Optimal Planning and Safe Control, Risk and Stochasticity},
}


@inproceedings{IROS2025,
  title = {Neural Configuration Distance Function for Continuum Robot Control},
  author = {Kehan Long and Hardik Parwana and Georgios Fainekos and Bardh Hoxha and Hideki Okamoto and Nikolay Atanasov},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025},
  year = {2025},
  url = {https://arxiv.org/pdf/2409.13865},
  code = {https://github.com/cps-atlas/ndf-coroco},
  keywords = {Learning-based Control and Analysis, Optimal Planning and Safe Control},
}

@inproceedings{Tuck25,
  title = {MRTA-Sim: A Modular Simulator for Multi-Robot Allocation, Planning, and Control in Open-World Environments},
  author = {Victoria Marie Tuck and Hardik Parwana and Pei-Wei Chen and Georgios Fainekos and Bardh Hoxha and Hideki Okamoto and S Shankar Sastry and Sanjit A Seshia},
  booktitle = {arXiv, 2025},
  year = {2025},
  url = {https://arxiv.org/abs/2504.15418},
  keywords = {Optimal Planning and Safe Control},
}

@inproceedings{AAAIw2024,
  title = {From Dashcam Videos to Driving Simulations: Stress Testing Automated Vehicles Against Rare Events},
  author = {Yan Miao and Georgios Fainekos and Bardh Hoxha and Hideki Okamoto and Danil Prokhorov and Sayan Mitra},
  booktitle = {Machine Learning for Autonomous Driving - AAAI, 2025},
  year = {2025},
  url = {https://ar5iv.org/pdf/2411.16027},
  keywords = {Testing, Falsification, and Specification},
}

@article{STTT2024,
  title = {Querying Perception Streams with Spatial Regular Expressions},
  author = {Jacob Anderson and Georgios Fainekos and Bardh Hoxha and Hideki Okamoto and Danil Prokhorov},
  booktitle = {Software Tools for Technology Transfer, 2024},
  year = {2024},
  url = {https://arxiv.org/pdf/2411.05946},
  code = {https://github.com/cps-atlas/strem},
  keywords = {Runtime Verification and Monitoring},
}


@inproceedings{TSA2024,
  title = {Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions},
  author = {Hardik Parwana and Mitchell Black and Georgios Fainekos and Bardh Hoxha and Hideki Okamoto and Danil Prokhorov},
  booktitle = {Towards Safe Autonomy: Emerging Requirements, Definitions, and Methods, July 2024},
  year = {2024},
  url = {https://www.bhoxha.com/papers/rss-tsa24.pdf},
  code = {https://github.com/bardhh/cbfkit/tree/mppi-extension},
  keywords = {Optimal Planning and Safe Control},
}

@article{TCPS2024,
  title = {Scaling Learning-based Policy Optimization for Temporal Logic Tasks by Controller Network Dropout},
  author = {Navid Hashemi and Bardh Hoxha and Danil Prokhorov and Georgios Fainekos and Jyotirmoy Deshmukh},
  booktitle = {ACM Transactions on Cyber-Physical Systems, 2024},
  year = {2024},
  url = {https://ar5iv.org/pdf/2403.15826},
  keywords = {Learning-based Control and Analysis},
}

@inproceedings{ADHS2024,
  title = {LB4TL: Smooth Semantics for Temporal Logic for Scalable Training of Neural Feedback Controllers},
  author = {Navid Hashemi and Sam Williams and Bardh Hoxha and Danil Prokhorov and Georgios Fainekos and Jyotirmoy Deshmukh},
  booktitle = {The 8th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), July 2024},
  year = {2024},
  url = {https://www.bhoxha.com/papers/adhs2024.pdf},
  keywords = {Learning-based Control and Analysis},
}

@inproceedings{ICRA2024,
  title = {Optimal Planning for Timed Partial Order Specifications},
  author = {Kandai Watanabe and Georgios Fainekos and Bardh Hoxha and Morteza Lahijanian and Hideki Okamoto and Sriram Sankaranarayanan},
  booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024},
  year = {2024},
  url = {https://www.bhoxha.com/papers/ICRA2024_TPO_Optim.pdf},
  video = {https://urldefense.com/v3/__https://youtu.be/_1YuUj3fuV0__;!!B-Wf7dNC-A!5CIko1U7kCI5jujQiVV1HtZI-Uq_oGFOKbLDehVNRaHPbHPG9oKc8gij9jt_sx9NLJuwdSaXyX8uqHNjqnA3e0PkqzwtENDbdA$},
  keywords = {Optimal Planning and Safe Control},
}

@inproceedings{IROS2024,
  title = {CBFKit: A Control Barrier Function Toolbox for Robotics Applications},
  author = {Mitchell Black and Georgios Fainekos and Bardh Hoxha and Hideki Okamoto and Danil Prokhorov},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024},
  year = {2024},
  url = {https://ar5iv.org/abs/2404.07158},
  code = {https://github.com/bardhh/cbfkit},
  keywords = {Optimal Planning and Safe Control},
}

@inproceedings{ACC2024,
  title = {Risk-Aware Fixed-Time Stabilization of Stochastic Systems under Measurement Uncertainty},
  author = {Mitchell Black and Georgios Fainekos and Bardh Hoxha and Dimitra Panagou},
  booktitle = {American Control Conference (ACC), 2024},
  year = {2024},
  url = {https://ar5iv.org/abs/2403.20258},
  keywords = {Optimal Planning and Safe Control, Risk and Stochasticity},
}

@inproceedings{NFM_2024,
  title = {SMT-Based Dynamic Multi-Robot Task Allocation},
  author = {Victoria Marie Tuck and Pei-Wei Chen and Georgios Fainekos and Bardh Hoxha and Hideki Okamoto and S Shankar Sastry and Sanjit A Seshia},
  booktitle = {NASA Formal Methods (NFM), 2024},
  year = {2024},
  url = {https://arxiv.org/abs/2403.11737},
  code = {https://github.com/victoria-tuck/SMrTa},
  keywords = {Optimal Planning and Safe Control},
}

@inproceedings{yang2023safe,
  title={Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions},
  author={Yang, Shuo and Black, Mitchell and Fainekos, Georgios and Hoxha, Bardh and Okamoto, Hideki and Mangharam, Rahul},
  booktitle={American Control Conference (ACC), 2024},
  year={2024}
,
  url = {https://www.bhoxha.com/papers/acc2024.pdf},
  keywords = {Optimal Planning and Safe Control}
}

@inproceedings{zhao2023robust,
  title={Robust Conformal Prediction for STL Runtime Verification under Distribution Shift},
  author={Zhao, Yiqi and Hoxha, Bardh and Fainekos, Georgios and Deshmukh, Jyotirmoy V and Lindemann, Lars},
  booktitle={ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), 2024},
  year={2024}
,
  award = {Finalist for Best Paper Award},
  url = {https://www.bhoxha.com/papers/ICCPS2024.pdf},
  keywords = {Runtime Verification and Monitoring, Risk and Stochasticity}
}

@inproceedings{parwana2025feasible,
  title={Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation},
  author={Parwana, Hardik and Black, Mitchell and Hoxha, Bardh and Okamoto, Hideki and Fainekos, Georgios and Prokhorov, Danil and Panagou, Dimitra},
  booktitle = {IEEE Conference on Control Technology and Applications (CCTA), 2025},
  year = {2025},
  pages = {171--178},
  url = {https://ar5iv.org/pdf/2312.07803.pdf},
  keywords = {Runtime Verification and Monitoring, Optimal Planning and Safe Control}
}

@inproceedings{anderson2023pattern,
  title={Pattern Matching for Perception Streams},
  author={Anderson, Jacob and Fainekos, Georgios and Hoxha, Bardh and Okamoto, Hideki and Prokhorov, Danil},
  booktitle={International Conference on Runtime Verification},
  pages={251--270},
  year={2023},
  organization={Springer Nature Switzerland Cham}
,
  code = {https://github.com/strem-org},
  award = {Finalist for Best Paper Award},
  url = {https://www.bhoxha.com/papers/RV2023.pdf},
  keywords = {Runtime Verification and Monitoring}
}

@article{STTT2023,
  title = {RTAMT – Runtime Robustness Monitors with Application to CPS and Robotics},
  author = {Tomoya Yamaguchi and Bardh Hoxha and Dejan Ničković},
  booktitle = {International Journal on Software Tools for Technology Transfer (STTT), 2023},
  year = {2023},
  url = {https://www.bhoxha.com/papers/rtamt2023.pdf},
  code = {https://github.com/nickovic/rtamt},
  keywords = {Runtime Verification and Monitoring},
}

@inproceedings{nishitani2023checkmate,
  title={Checkmate: Fault Timing Localization for Multi-Robot Scenarios},
  author={Nishitani, Ippei and Yamaguchi, Tomoya and Hoxha, Bardh},
  booktitle={2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
  pages={1--8},
  year={2023},
  organization={IEEE}
,
  url = {https://www.bhoxha.com/papers/CASE2023.pdf},
  keywords = {Runtime Verification and Monitoring}
}

@inproceedings{tran2023quantitative,
  title={Quantitative Verification for Neural Networks using ProbStars},
  author={Tran, Hoang-Dung and Choi, Sungwoo and Okamoto, Hideki and Hoxha, Bardh and Fainekos, Georgios and Prokhorov, Danil},
  booktitle={Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control},
  pages={1--12},
  year={2023}
,
  code = {https://github.com/V2A2/StarV},
  url = {https://www.bhoxha.com/papers/HSCC2023ProbStars.pdf},
  keywords = {Learning-based Control and Analysis, Risk and Stochasticity}
}

@inproceedings{tran2023verification,
  title={Verification of Recurrent Neural Networks with Star Reachability},
  author={Tran, Hoang Dung and Choi, Sung Woo and Yang, Xiaodong and Yamaguchi, Tomoya and Hoxha, Bardh and Prokhorov, Danil},
  booktitle={Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control},
  pages={1--13},
  year={2023}
,
  code = {https://github.com/verivital/nnv},
  url = {https://www.bhoxha.com/papers/HSCC2023RNNVer.pdf},
  keywords = {Learning-based Control and Analysis}
}

@inproceedings{ICCPS2023,
  title = {A Neurosymbolic Approach to the Verification of Temporal Logic Properties of Learning enabled Control Systems},
  author = {Navid Hashemi and Bardh Hoxha and Tomoya Yamaguchi and Danil Prokhorov and Geogios Fainekos and Jyotirmoy Deshmukh},
  booktitle = {ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), 2023},
  year = {2023},
  url = {https://arxiv.org/pdf/2303.05394},
  keywords = {Learning-based Control and Analysis},
}

@inproceedings{hashemi2023risk,
  title={Risk-awareness in learning neural controllers for temporal logic objectives},
  author={Hashemi, Navid and Qin, Xin and Deshmukh, Jyotirmoy V and Fainekos, Georgios and Hoxha, Bardh and Prokhorov, Danil and Yamaguchi, Tomoya},
  booktitle={2023 American Control Conference (ACC)},
  pages={4096--4103},
  year={2023},
  organization={IEEE}
,
  url = {https://ar5iv.org/abs/2210.07439},
  keywords = {Learning-based Control and Analysis, Risk and Stochasticity}
}

@inproceedings{watanabe2023timed,
  title={Timed partial order inference algorithm},
  author={Watanabe, Kandai and Fainekos, Georgios and Hoxha, Bardh and Lahijanian, Morteza and Prokhorov, Danil and Sankaranarayanan, Sriram and Yamaguchi, Tomoya},
  booktitle={Proceedings of the International Conference on Automated Planning and Scheduling},
  volume={33},
  number={1},
  pages={639--647},
  year={2023}
,
  code = {https://github.com/watakandai/tpossp},
  url = {https://ar5iv.org/pdf/2302.02501},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{black2023safety,
  title={Safety Under Uncertainty: Tight Bounds with Risk-Aware Control Barrier Functions},
  author={Black, Mitchell and Fainekos, Georgios and Hoxha, Bardh and Prokhorov, Danil and Panagou, Dimitra},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA), 2023},
  year={2023}
,
  url = {https://ar5iv.org/abs/2304.01040},
  keywords = {Risk and Stochasticity, Optimal Planning and Safe Control}
}

@inproceedings{ozmen2021discovering,
  title={Discovering physical interaction vulnerabilities in IoT deployments},
  author={Ozmen, Muslum Ozgur and Li, Xuansong and Chu, Andrew Chun-An and Celik, Z Berkay and Hoxha, Bardh and Zhang, Xiangyu},
  booktitle={ACM SIGSAC Conference on Computer and Communications Security (CCS), 2022},
  year={2022}
,
  url = {https://ar5iv.org/pdf/2102.01812},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{WFML2022,
  title = {Safety Verification and Repair of Deep Neural Networks},
  author = {Xiaodong Yang and Tomoya Yamaguchi and Bardh Hoxha and Danil Prokhorov and Taylor T Johnson},
  booktitle = {Workshop on Formal Verification of Machine Learning (WFVML), 2022},
  year = {2022},
  url = {http://www.bhoxha.com/papers/WFML2022.pdf},
  video = {https://slideslive.com/38985959},
  keywords = {Learning-based Control and Analysis},
}

@inproceedings{bogomolov2022runtime,
  title={Runtime Assurance for Autonomous Driving with Neural Reachability},
  author={Bogomolov, Sergiy and Hekal, Abdelrahman and Hoxha, Bardh and Yamaguchi, Tomoya},
  booktitle={2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)},
  pages={2634--2641},
  year={2022},
  organization={IEEE}
,
  url = {http://www.bhoxha.com/papers/ITSC2022.pdf},
  keywords = {Runtime Verification and Monitoring, Learning-based Control and Analysis}
}

@inproceedings{yang2022neural,
  title={Neural network repair with reachability analysis},
  author={Yang, Xiaodong and Yamaguchi, Tom and Tran, Hoang-Dung and Hoxha, Bardh and Johnson, Taylor T and Prokhorov, Danil},
  booktitle={International Conference on Formal Modeling and Analysis of Timed Systems},
  pages={221--236},
  year={2022},
  organization={Springer International Publishing Cham}
,
  code = {https://github.com/Shaddadi/veritex},
  award = {Best Software Artifact Award},
  url = {https://arxiv.org/pdf/2108.04214.pdf},
  keywords = {Learning-based Control and Analysis}
}

@article{hekmatnejad2022formalizing,
  title={Formalizing and Evaluating Requirements of Perception Systems for Automated Vehicles using Spatio-Temporal Perception Logic},
  author={Hekmatnejad, Mohammad and Hoxha, Bardh and Deshmukh, Jyotirmoy V and Yang, Yezhou and Fainekos, Georgios},
  journal={International Journal of Robotics Research (IJRR), 2024},
  year={2024}
,
  url = {https://arxiv.org/pdf/2206.14372.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{yaghoubi2021risk,
  title={Risk-bounded control with kalman filtering and stochastic barrier functions},
  author={Yaghoubi, Shakiba and Fainekos, Georgios and Yamaguchi, Tomoya and Prokhorov, Danil and Hoxha, Bardh},
  booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
  pages={5213--5219},
  year={2021},
  organization={IEEE}
,
  url = {https://arxiv.org/abs/2112.14912},
  keywords = {Optimal Planning and Safe Control, Risk and Stochasticity}
}

@inproceedings{balakrishnan2021percemon,
  title={PerceMon: online monitoring for perception systems},
  author={Balakrishnan, Anand and Deshmukh, Jyotirmoy and Hoxha, Bardh and Yamaguchi, Tomoya and Fainekos, Georgios},
  booktitle={Runtime Verification: 21st International Conference, RV 2021, Virtual Event, October 11--14, 2021, Proceedings 21},
  pages={297--308},
  year={2021},
  organization={Springer International Publishing}
,
  code = {https://github.com/anand-bala/PerceMon},
  url = {https://arxiv.org/pdf/2108.08289.pdf},
  keywords = {Runtime Verification and Monitoring}
}

@inproceedings{majd2021safe,
  title={Safe navigation in human occupied environments using sampling and control barrier functions},
  author={Majd, Keyvan and Yaghoubi, Shakiba and Yamaguchi, Tomoya and Hoxha, Bardh and Prokhorov, Danil and Fainekos, Georgios},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={5794--5800},
  year={2021},
  organization={IEEE}
,
  url = {https://arxiv.org/pdf/2105.01204},
  keywords = {Optimal Planning and Safe Control}
}

@inproceedings{yang2021reachability,
  title={Reachability analysis of deep ReLU neural networks using facet-vertex incidence},
  author={Yang, Xiaodong and Johnson, Taylor T and Tran, Hoang-Dung and Yamaguchi, Tomoya and Hoxha, Bardh and Prokhorov, Danil V},
  booktitle={HSCC},
  pages={18--1},
  year={2021}
,
  code = {https://github.com/Shaddadi/veritex},
  url = {http://www.bhoxha.com/papers/HSCC2021.pdf},
  keywords = {Learning-based Control and Analysis}
}

@article{yaghoubi2020risk,
  title={Risk-bounded control using stochastic barrier functions},
  author={Yaghoubi, Shakiba and Majd, Keyvan and Fainekos, Georgios and Yamaguchi, Tomoya and Prokhorov, Danil and Hoxha, Bardh},
  journal={IEEE Control Systems Letters},
  volume={5},
  number={5},
  pages={1831--1836},
  year={2020},
  publisher={IEEE}
,
  url = {http://www.bhoxha.com/papers/LCSS2020.pdf},
  keywords = {Risk and Stochasticity, Optimal Planning and Safe Control}
}

@inproceedings{hekmatnejad2020search,
  title={Search-based test-case generation by monitoring responsibility safety rules},
  author={Hekmatnejad, Mohammad and Hoxha, Bardh and Fainekos, Georgios},
  booktitle={2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)},
  pages={1--8},
  year={2020},
  organization={IEEE}
,
  url = {http://www.bhoxha.com/papers/ITSC2020.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{yamaguchi2020specification,
  title={Specification-guided software fault localization for autonomous mobile systems},
  author={Yamaguchi, Tomoya and Hoxha, Bardh and Prokhorov, Danil and Deshmukh, Jyotirmoy V},
  booktitle={2020 18th ACM-IEEE International Conference on Formal Methods and Models for System Design (MEMOCODE)},
  pages={1--12},
  year={2020},
  organization={IEEE}
,
  url = {http://www.bhoxha.com/papers/MEMOCODE2020.pdf},
  keywords = {Runtime Verification and Monitoring}
}

@inproceedings{date2020application,
  title={Application of Simulation-Based Methods on Autonomous Vehicle Control with Deep Neural Network: Work-in-Progress},
  author={Date, Yuji and Baba, Takeshi and Hoxha, Bardh and Yamaguchi, Tomoya and Prokhorov, Danil},
  booktitle={2020 International Conference on Embedded Software (EMSOFT)},
  pages={1--3},
  year={2020},
  organization={IEEE}
,
  url = {http://www.bhoxha.com/papers/EMSOFT2020.pdf},
  keywords = {Testing, Falsification, and Specification, Learning-based Control and Analysis}
}

@inproceedings{cralley2020tltk,
  title={Tltk: A toolbox for parallel robustness computation of temporal logic specifications},
  author={Cralley, Joseph and Spantidi, Ourania and Hoxha, Bardh and Fainekos, Georgios},
  booktitle={Runtime Verification: 20th International Conference, RV 2020, Los Angeles, CA, USA, October 6--9, 2020, Proceedings 20},
  pages={404--416},
  year={2020},
  organization={Springer International Publishing}
,
  code = {https://bitbucket.org/versyslab/tltk/src/master/},
  url = {http://www.bhoxha.com/papers/RV2020.pdf},
  keywords = {Runtime Verification and Monitoring, Testing, Falsification, and Specification}
}

@inproceedings{fainekos2019robustness,
  title={Robustness of specifications and its applications to falsification, parameter mining, and runtime monitoring with s-taliro},
  author={Fainekos, Georgios and Hoxha, Bardh and Sankaranarayanan, Sriram},
  booktitle={Runtime Verification: 19th International Conference, RV 2019, Porto, Portugal, October 8--11, 2019, Proceedings 19},
  pages={27--47},
  year={2019},
  organization={Springer International Publishing}
,
  code = {https://sites.google.com/a/asu.edu/s-taliro/s-taliro},
  url = {http://www.bhoxha.com/papers/RV2019.pdf},
  keywords = {Testing, Falsification, and Specification, Runtime Verification and Monitoring}
}

@inproceedings{dokhanchi2018arch,
  title={ARCH-COMP18 Category Report: Results on the Falsification Benchmarks},
  author={Dokhanchi, Adel and Yaghoubi, Shakiba and Hoxha, Bardh and Fainekos, Georgios and Ernst, Gidon and Zhang, Zhenya and Arcaini, Paolo and Hasuo, Ichiro and Sedwards, Sean},
  booktitle={ARCH}
,
  url = {http://www.bhoxha.com/papers/ARCH2018.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@article{dokhanchi2017formal,
  title={Formal requirement debugging for testing and verification of cyber-physical systems},
  author={Dokhanchi, Adel and Hoxha, Bardh and Fainekos, Georgios},
  journal={ACM Transactions on Embedded Computing Systems (TECS)},
  volume={17},
  number={2},
  pages={1--26},
  year={2017},
  publisher={ACM New York, NY, USA}
,
  url = {http://www.bhoxha.com/papers/TECS2017.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{tuncali2018experience,
  title={Experience report: Application of falsification methods on the UxAS system},
  author={Tuncali, Cumhur Erkan and Hoxha, Bardh and Ding, Guohui and Fainekos, Georgios and Sankaranarayanan, Sriram},
  booktitle={NASA Formal Methods: 10th International Symposium, NFM 2018, Newport News, VA, USA, April 17-19, 2018, Proceedings 10},
  pages={452--459},
  year={2018},
  organization={Springer International Publishing}
,
  url = {http://www.bhoxha.com/papers/NFM2018.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@article{nguyen2018mission,
  title={Mission planning for multiple vehicles with temporal specifications using UxAS},
  author={Nguyen, Luan V and Hoxha, Bardh and Johnson, Taylor T and Fainekos, Georgios},
  journal={IFAC-PapersOnLine},
  volume={51},
  number={16},
  pages={67--72},
  year={2018},
  publisher={Elsevier}
,
  url = {http://www.bhoxha.com/papers/adhs2018.pdf},
  keywords = {Optimal Planning and Safe Control}
}

@inproceedings{dokhanchi2017vacuity,
  title={Vacuity aware falsification for MTL request-response specifications},
  author={Dokhanchi, Adel and Yaghoubi, Shakiba and Hoxha, Bardh and Fainekos, Georgios},
  booktitle={2017 13th IEEE Conference on Automation Science and Engineering (CASE)},
  pages={1332--1337},
  year={2017},
  organization={IEEE}
,
  url = {http://www.bhoxha.com/papers/CASE2017.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{dokhanchi2017arch,
  title={ARCH-COMP17 Category Report: Preliminary Results on the Falsification Benchmarks},
  author={Dokhanchi, Adel and Yaghoubi, Shakiba and Hoxha, Bardh and Fainekos, Georgios},
  booktitle={ARCH}
,
  url = {http://www.bhoxha.com/papers/ARCH2017.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@article{hoxha2017mining,
  title={Mining parametric temporal logic properties in model-based design for cyber-physical systems},
  author={Hoxha, Bardh and Dokhanchi, Adel and Fainekos, Georgios},
  journal={International Journal on Software Tools for Technology},
  pages={15},
  year={2017},
  publisher={Springer}
,
  url = {http://rdcu.be/o1h0},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{dokhanchi2016efficient,
  title={An efficient algorithm for monitoring practical TPTL specifications},
  author={Dokhanchi, Adel and Hoxha, Bardh and Tuncali, Cumhur Erkan and Fainekos, Georgios},
  booktitle={2016 ACM/IEEE International Conference on Formal Methods and Models for System Design (MEMOCODE)},
  pages={184--193},
  year={2016},
  organization={IEEE}
,
  url = {http://www.bhoxha.com/papers/Memocode2016_CameraReady.pdf},
  keywords = {Runtime Verification and Monitoring}
}

@inproceedings{hoxha2016pareto,
  title={Pareto front exploration for parametric temporal logic specifications of cyber-physical systems},
  author={Hoxha, Bardh and Fainekos, Georgios},
  booktitle={Workshop on Monitoring and Testing of Cyber-Physical Systems},
  year={2016}
,
  url = {http://www.bhoxha.com/papers/MTCPS16_1.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@article{dokhanchi2016mitl,
  title={MITL specification debugging for monitoring of cyber-physical systems},
  author={Dokhanchi, Adel and Hoxha, Bardh and Fainekos, Georgios},
  journal={Electronic Proceedings in Theoretical Computer Science, EPTCS},
  volume={232},
  pages={10--13},
  year={2016},
  publisher={Open Publishing Association}
,
  url = {http://www.bhoxha.com/papers/MTCPS16_2.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{hoxha2016planning,
  title={Planning in Dynamic Environments Through Temporal Logic Monitoring},
  author={Hoxha, Bardh and Fainekos, Georgios},
  booktitle={AAAI Workshop: Planning for Hybrid Systems},
  volume={16},
  pages={12},
  year={2016}
,
  url = {http://www.bhoxha.com/papers/PlanHS16.pdf},
  keywords = {Optimal Planning and Safe Control, Runtime Verification and Monitoring}
}

@inproceedings{dokhanchi2015metric,
  title={Metric interval temporal logic specification elicitation and debugging},
  author={Dokhanchi, Adel and Hoxha, Bardh and Fainekos, Georgios},
  booktitle={2015 ACM/IEEE International Conference on Formal Methods and Models for Codesign (MEMOCODE)},
  pages={70--79},
  year={2015},
  organization={IEEE}
,
  url = {http://www.bhoxha.com/papers/memocode2015.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{hoxha2015vispec,
  title={VISPEC: A graphical tool for elicitation of MTL requirements},
  author={Hoxha, Bardh and Mavridis, Nikolaos and Fainekos, Georgios},
  booktitle={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={3486--3492},
  year={2015},
  organization={IEEE}
,
  url = {http://www.bhoxha.com/papers/iros2015.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{hoxha2014towards,
  title={Towards formal specification visualization for testing and monitoring of cyber-physical systems},
  author={Hoxha, Bardh and Bach, Hoang and Abbas, Houssam and Dokhanchi, Adel and Kobayashi, Yoshihiro and Fainekos, Georgios},
  booktitle={Int. Workshop on Design and Implementation of Formal Tools and Systems},
  year={2014},
  organization={sn}
,
  url = {http://www.bhoxha.com/papers/DIFTS2014.pdf},
  keywords = {Testing, Falsification, and Specification, Runtime Verification and Monitoring}
}

@inproceedings{dokhanchi2014line,
  title={On-line monitoring for temporal logic robustness},
  author={Dokhanchi, Adel and Hoxha, Bardh and Fainekos, Georgios},
  booktitle={International Conference on Runtime Verification},
  pages={231--246},
  year={2014},
  organization={Springer International Publishing Cham}
,
  url = {http://www.bhoxha.com/papers/rv2014tech.pdf},
  keywords = {Runtime Verification and Monitoring}
}

@article{abbas2014conformance,
  title={Conformance testing as falsification for cyber-physical systems},
  author={Abbas, Houssam and Hoxha, Bardh and Fainekos, Georgios and Deshmukh, Jyotirmoy V and Kapinski, James and Ueda, Koichi},
  journal={arXiv preprint arXiv:1401.5200},
  year={2014}
,
  url = {http://arxiv.org/abs/1401.5200},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{iccps2014wip,
  title = {WiP Abstract: Conformance Testing as Falsification for Cyber-Physical Systems},
  author = {H. Abbas and B. Hoxha and G. Fainekos and J. V. Deshmukh and J. Kapinski and K. Ueda},
  booktitle = {ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), Berlin, Germany, April 2014},
  year = {2014},
  url = {http://www.bhoxha.com/papers/iccps2014wip.pdf},
  keywords = {Testing, Falsification, and Specification},
}

@inproceedings{abbas2014robustness,
  title={Robustness-guided temporal logic testing and verification for stochastic cyber-physical systems},
  author={Abbas, Houssam and Hoxha, Bardh and Fainekos, Georgios and Ueda, Koichi},
  booktitle={The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent},
  pages={1--6},
  year={2014},
  organization={IEEE}
,
  award = {Finalist for best student paper award},
  url = {http://www.bhoxha.com/papers/Cyber2014.pdf},
  keywords = {Testing, Falsification, and Specification, Risk and Stochasticity}
}

@inproceedings{hoxha2014benchmarks,
  title={Benchmarks for Temporal Logic Requirements for Automotive Systems},
  author={Hoxha, Bardh and Abbas, Houssam and Fainekos, Georgios},
  booktitle={Workshop on Applied Verification for Continuous and Hybrid Systems (ARCH)}
,
  url = {http://www.bhoxha.com/papers/arch2014bench.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@article{hoxha2014using,
  title={Using S-TaLiRo on industrial size automotive models},
  author={Hoxha, Bardh and Abbas, Houssam and Fainekos, Georgios},
  journal={Proc. of Applied Verification for Continuous and Hybrid Systems},
  year={2014}
,
  url = {http://www.bhoxha.com/papers/arch2014exp.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{hoxhasystem,
  title={System Testing with S-TaLiRo: Recent Functionality and Additions},
  author={Hoxha, Bardh and Dokhanchi, Adel and Fainekos, Georgios},
  booktitle={ACM International Conference on Hybrid Systems: Computation and Control (HSCC), 2014},
  year={2014},
  url = {http://www.bhoxha.com/papers/hscc2014.pdf},
  keywords = {Testing, Falsification, and Specification}
}

@inproceedings{yang2012querying,
  title={Querying parametric temporal logic properties on embedded systems},
  author={Yang, Hengyi and Hoxha, Bardh and Fainekos, Georgios},
  booktitle={IFIP International Conference on Testing Software and Systems},
  pages={136--151},
  year={2012},
  organization={Springer}
,
  url = {http://www.bhoxha.com/papers/ictss2012.pdf},
  keywords = {Testing, Falsification, and Specification}
}