papers.bib

---
---

@string{aps = {American Physical Society,}}

@article{bhatt2023strategi,
	bibtex_show={true},
	title={Strategic Decision-Making in Multi-Agent Domains: A Weighted Potential Dynamic Game Approach},
	author={Bhatt, Maulik and Jia, Yixuan and Mehr, Negar},
	journal={IEEE Transactions on Robotics},
	year={2025},
	publisher={IEEE}
	arxiv={2308.05876}
}

@inproceedings{nagpal2024llmca,
  title={Leveraging Large Language Models for Effective and Explainable Multi-Agent Credit Assignment},
  author={Nagpal, Kartik and Dong, Dayi and Bouvier, Jean-Baptiste and Mehr, Negar},
  year={2025},
  booktitle={24th International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},
  html={https://iconlab.negarmehr.com/LLM-MCA/},
  arxiv={2502.16863}
}

@inproceedings{10802475,
  author={Nagpal, Kartik and Mehr, Negar},
  booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title={Optimal Robotic Assembly Sequence Planning (ORASP): A Sequential Decision-Making Approach},
  year={2024},
  volume={},
  number={},
  pages={9847-9854},
  keywords={Robotic assembly;Sequential analysis;Uncertainty;Tracking;Search methods;Decision making;Telescopes;Deep reinforcement learning;Planning;Assembly},
  doi={10.1109/IROS58592.2024.10802475}
}


@inproceedings{bhatt2023efficient,
  title={Efficient constrained multi-agent trajectory optimization using dynamic potential games},
  author={Bhatt, Maulik and Jia, Yixuan and Mehr, Negar},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={7303--7310},
  year={2023},
  organization={IEEE}
}

@inproceedings{jia2023rapid,
  title={Rapid: Autonomous multi-agent racing using constrained potential dynamic games},
  author={Jia, Yixuan and Bhatt, Maulik and Mehr, Negar},
  booktitle={2023 European Control Conference (ECC)},
  pages={1--8},
  year={2023},
  organization={IEEE}
}

@article{chiu2024extent,
  title={To what extent do open-loop and feedback Nash equilibria diverge in general-sum linear quadratic dynamic games?},
  author={Chiu, Chih-Yuan and Li, Jingqi and Bhatt, Maulik and Mehr, Negar},
  journal={IEEE Control Systems Letters},
  year={2024},
  publisher={IEEE}
}

@inproceedings{Wang2020game,
  title={Game-Theoretic Planning for Risk-Aware Interactive Agents},
  author={Wang, Mingyu and Mehr, Negar, and Gaidon, Adrien, and Schwager, Mac},
  booktitle={2020 IEEE International Conference on Intelligent Robots and Systems (IROS)},
  year={2020},
  organization={IEEE},
  html={https://ieeexplore.ieee.org/abstract/document/9341137?casa_token=oCIrEq_6oOcAAAAA:p3_xMavZI8mxkzdcGqiZz7R9b0gv6kAFMC8yjnRfv4WFnTaP0LhIzEtstdKS1vIolmw0SsYPWQ}
}

@article{mehr2023maximum,
	bibtex_show={true},
	title={Maximum-entropy multi-agent dynamic games: Forward and inverse solutions},
	author={Mehr, Negar and Wang, Mingyu and Bhatt, Maulik and Schwager, Mac},
	journal={IEEE Transactions on Robotics},
	year={2023},
	publisher={IEEE}
}


@inproceedings{kolarich2022stackelberg,
	title={Stackelberg routing of autonomous cars in mixed-autonomy traffic networks},
	author={Kolarich, Maxwell, and Mehr, Negar},
	year={2022},
	booktitle={2022 Annual American Control Conference (ACC)},
	 organization={IEEE}
}

@article{beliaev2021congestion,
	title={Congestion-aware Multi-model Delivery Systems Utilizing Drones},
	author={Beliaev, Mark and Mehr, Negar and Pedarsani, Ramtin},
	year={2022},
	journal={European Control Conference},
	 organization={IEEE}
}


@article{rezazadeh2022learning,
	title={Learning Contraction Policies from Offline Data},
	author={Rezazadeh, Navid and Kolarich, Maxwell and Kia, Solmaz and Mehr, Negar},
	journal={IEEE Robotics and Automation Letters},
	year={2022},
	publisher={IEEE}
}


@INPROCEEDINGS{Kavuncu-RSS-21, 
	AUTHOR    = {Talha Kavuncu AND Ayberk Yaraneri AND Negar Mehr}, 
	TITLE     = {{Potential iLQR: A Potential-Minimizing Controller for Planning Multi-Agent Interactive Trajectories}}, 
	BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
	YEAR      = {2021}, 
	ADDRESS   = {Virtual}, 
	MONTH     = {July}, 
	DOI       = {10.15607/RSS.2021.XVII.084},
	arxiv={2107.04926},
	html={http://www.roboticsproceedings.org/rss17/p084.html}
}




@article{mehr2021game,
	title={A game theoretic macroscopic model of lane choices at traffic diverges with applications to mixed--autonomy networks},
	author={Mehr, Negar and Li, Ruolin and Horowitz, Roberto},
	journal={Transportation Research Part B: Methodological},
	volume={144},
	pages={45--59},
	year={2021},
	publisher={Elsevier},
	html={https://www.sciencedirect.com/science/article/pii/S0191261520304276?casa_token=HNu-zLwEdMIAAAAA:0WOMwrK1_dYjEkT9BChtl9YSHHjsrLiTceyRFWEA-4xcGM-hH71QUQzWxGpP729yKdyURm8kvLs}
}

                  

@inproceedings{mehr2017stochastic,
  title={Stochastic predictive freeway ramp metering from signal temporal logic specifications},
  author={Mehr, Negar and Sadigh, Dorsa and Horowitz, Roberto and Sastry, S Shankar and Seshia, Sanjit A},
  booktitle={2017 American Control Conference (ACC)},
  pages={4884--4889},
  year={2017},
  organization={IEEE},
  html={https://ieeexplore.ieee.org/abstract/document/7963711},
}

@inproceedings{mehr2018game,
	title={A game theoretic model for aggregate bypassing behavior of vehicles at traffic diverges},
	author={Mehr, Negar and Li, Ruolin and Horowitz, Roberto},
	booktitle={2018 21st International Conference on Intelligent Transportation Systems (ITSC)},
	pages={1968--1973},
	year={2018},
	organization={IEEE},
	html={https://ieeexplore.ieee.org/abstract/document/8569463?casa_token=NB2YTQO4HMcAAAAA:YsAntQLGfQJPCf6Hhp9_mXZdIJ1ZRJrD6fMWpGERyno3hzr8xEntZAT7DCaEsC6vHXD9PNP4gQ}
}

@article{mehr2019will,
  title={How will the presence of autonomous vehicles affect the equilibrium state of traffic networks?},
  author={Mehr, Negar and Horowitz, Roberto},
  journal={IEEE Transactions on Control of Network Systems},
  volume={7},
  number={1},
  pages={96--105},
  year={2019},
  publisher={IEEE},
  html={https://ieeexplore.ieee.org/abstract/document/8721089},
  arxiv={1901.05168},
}

@inproceedings{mehr2018can,
  title={Can the presence of autonomous vehicles worsen the equilibrium state of traffic networks?},
  author={Mehr, Negar and Horowitz, Roberto},
  booktitle={2018 IEEE Conference on Decision and Control (CDC)},
  pages={1788--1793},
  year={2018},
  organization={IEEE},
  html={https://ieeexplore.ieee.org/abstract/document/8618919?casa_token=eA2SxxUaFm0AAAAA:5VTX-UrL1JO0p4nVKg2jvHp2lu9H926Es4_eiD-bwn73CMGJgeWBrG-ClIMT-tuFFwGWMpdNhSk},
}

@inproceedings{li2020impact,
	title={The Impact of Autonomous Vehicles' Headway on the Social Delay of Traffic Networks},
	author={Li, Ruolin and Mehr, Negar and Horowitz, Roberto},
	booktitle={2020 59th IEEE Conference on Decision and Control (CDC)},
	pages={268--273},
	year={2020},
	organization={IEEE},
	html={https://ieeexplore.ieee.org/abstract/document/9304393?casa_token=89-Yq99Fo1oAAAAA:AF9BryRmWA2HNc39SJGqpT0FD_4rpgQRLXDVv124J1426DH9_Vy9sx0g0Pa3XCmDxBC3LJm_IQ},
}

@inproceedings{burov2020platoon,
	title={Platoon Formation Algorithm for Minimizing Travel Time},
	author={Burov, Mikhail and Mehr, Negar and Smith, Stanley and Kurzhanskiy, Alexander and Arcak, Murat},
	booktitle={2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)},
	pages={1--6},
	year={2020},
	organization={IEEE},
	html={https://ieeexplore.ieee.org/abstract/document/9294419}
}


@inproceedings{li2019extended,
	title={An Extended Game--Theoretic Model for Aggregate Lane Choice Behavior of Vehicles at Traffic Diverges with a Bifurcating Lane},
	author={Li, Ruolin and Mehr, Negar and Horowitz, Roberto},
	booktitle={2019 IEEE Intelligent Transportation Systems Conference (ITSC)},
	pages={2226--2231},
	year={2019},
	organization={IEEE},
	html={https://ieeexplore.ieee.org/abstract/document/8916889},
}

@inproceedings{koehler2016stable,
  title={Stable hybrid model predictive control for ramp metering},
  author={Koehler, Sarah and Mehr, Negar and Horowitz, Roberto and Borrelli, Francesco},
  booktitle={2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)},
  pages={1083--1088},
  year={2016},
  organization={IEEE},
  html={https://ieeexplore.ieee.org/abstract/document/7795691/},
}

@inproceedings{mehr2019pricing,
  title={Pricing traffic networks with mixed vehicle autonomy},
  author={Mehr, Negar and Horowitz, Roberto},
  booktitle={2019 American Control Conference (ACC)},
  pages={2676--2682},
  year={2019},
  organization={IEEE},
  html={https://ieeexplore.ieee.org/abstract/document/8814392/},
  arxiv={1904.01226},

}

@inproceedings{mehr2017joint,
  title={Joint perimeter and signal control of urban traffic via network utility maximization},
  author={Mehr, Negar and Lioris, Jennie and Horowitz, Roberto and Pedarsani, Ramtin},
  booktitle={2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)},
  pages={1--6},
  year={2017},
  organization={IEEE},
  html={https://ieeexplore.ieee.org/abstract/document/8317837/},
}

@inproceedings{mehr2016inferring,
  title={Inferring and assisting with constraints in shared autonomy},
  author={Mehr, Negar and Horowitz, Roberto and Dragan, Anca D},
  booktitle={2016 IEEE 55th Conference on Decision and Control (CDC)},
  pages={6689--6696},
  year={2016},
  organization={IEEE},
  html={https://ieeexplore.ieee.org/abstract/document/7799299/},
}


@inproceedings{mehr2016probabilistic,
  title={Probabilistic freeway ramp metering},
  author={Mehr, Negar and Horowitz, Roberto},
  booktitle={Dynamic Systems and Control Conference},
  volume={50701},
  pages={V002T31A006},
  year={2016},
  organization={American Society of Mechanical Engineers},
  html={https://asmedigitalcollection.asme.org/DSCC/proceedings-abstract/DSCC2016/50701/V002T31A006/231127},
}

@inproceedings{mehr2018signal,
	title={Signal Control for Urban Traffic Networks with Unknown System Parameters},
	author={Mehr, Negar and Lioris, Jennie and Horowitz, Roberto and Pedarsani, Ramtin},
	booktitle={2018 21st International Conference on Intelligent Transportation Systems (ITSC)},
	pages={2171--2176},
	year={2018},
	organization={IEEE},
	html={https://ieeexplore.ieee.org/abstract/document/8569240?casa_token=69YOMWyirM0AAAAA:opjduvUbYZRtc-4XxEv6PO30YYPnAFkyWQHcMxBBY2iXLXKeVJ-Plznu2rM4mz_LEz5yqPIsZg}
}

@inproceedings{mehr2018offset,
	title={Offset selection for bandwidth maximization on multiple routes},
	author={Mehr, Negar and Sanselme, Marc and Orr, Nitzan and Horowitz, Roberto and Gomes, Gabriel},
	booktitle={2018 Annual American Control Conference (ACC)},
	pages={6366--6371},
	year={2018},
	organization={IEEE},
	html={https://ieeexplore.ieee.org/abstract/document/8431660?casa_token=_e4c8F3wx3oAAAAA:tM_wUl6tIYu2E1hwKsIJvcGvJvIg5mjQf0Hj04ji58rrXTT_OKt0V0tHy5Ofea5eBiTB0ymqhQ}
}

@inproceedings{mehr2018submodular,
	title={A submodular approach for optimal sensor placement in traffic networks},
	author={Mehr, Negar and Horowitz, Roberto},
	booktitle={2018 Annual American Control Conference (ACC)},
	pages={6353--6358},
	year={2018},
	organization={IEEE},
	html={https://ieeexplore.ieee.org/abstract/document/8431678?casa_token=6mRA31RWyM0AAAAA:wKw1_SLdlB68ZcbmVpXzQh0bidEB5sD7UsB7RBKfkT_Yyfzmg-GmwRODlu0f4jIs24V6BSiAEQ}
}

@inproceedings{mehr2017low,
	title={Low-complexity ramp metering for freeway congestion control via network utility maximization},
	author={Mehr, Negar and Horowitz, Roberto and Pedarsani, Ramtin},
	booktitle={2017 IEEE 56th Annual Conference on Decision and Control (CDC)},
	pages={5672--5677},
	year={2017},
	organization={IEEE},
	html={https://ieeexplore.ieee.org/abstract/document/8264515?casa_token=ZLaYnmci5f8AAAAA:3IafXyrcu29-nLw72zhSzNEHeTf4Sl5XtYPcH4kA8vE3SdJSdMxqQMigy0xWvj3SC3iDl5kFwA}
}

@inproceedings{shahsavari2016optimal,
	title={Optimal mode-switching and control synthesis for floating offshore wind turbines},
	author={Shahsavari, Behrooz and Bagherieh, Omid and Mehr, Negar and Horowitz, Roberto and Tomlin, Claire},
	booktitle={2016 American Control Conference (ACC)},
	pages={2295--2300},
	year={2016},
	organization={IEEE},
	html={https://ieeexplore.ieee.org/abstract/document/7525260}
}

@article{nishimura2021rat,
	title={Rat ilqr: A risk auto-tuning controller to optimally account for stochastic model mismatch},
	author={Nishimura, Haruki and Mehr, Negar and Gaidon, Adrien and Schwager, Mac},
	journal={IEEE Robotics and Automation Letters},
	volume={6},
	number={2},
	pages={763--770},
	year={2021},
	publisher={IEEE},
	html={https://ieeexplore.ieee.org/abstract/document/9312440},
}

@article{puthumanaillam2023weathering,
  title={Weathering ongoing uncertainty: learning and planning in a time-varying partially observable environment},
  author={Puthumanaillam, Gokul and Liu, Xiangyu and Mehr, Negar and Ornik, Melkior},
  journal={arXiv preprint arXiv:2312.03263},
  year={2023}
}

@inproceedings{ryu2024integrating,
	title={Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds}, 
	author={Kanghyun Ryu and Negar Mehr},
	booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
	year={2024},
	pages={2410--2417},
	organization={IEEE},
	arxiv={2403.05081},
	preview={DRCC-MPC_hotel.gif}
}

@inproceedings{bouvier2024policed,
	title={POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard Constraints},
	author={Jean-Baptiste Bouvier and Kartik Nagpal and Negar Mehr},
	year={2024},
	booktitle={Robotics: Science and Systems (RSS)},
	arxiv={2403.13297},
	html={https://iconlab.negarmehr.com/POLICEd-RL},
	code={https://github.com/labicon/POLICEd-RL/},
	preview={POLICEd_RL_gif.gif}
}

@inproceedings{clark2024adaptive,
	title={Adaptive Teaching in Heterogeneous Agents: Balancing Surprise in Sparse Reward Scenarios},
	author={Emma Clark and Kanghyun Ryu and Negar Mehr},
	year={2024},
	booktitle={Learning for Dynamics and Control Conference},
	arxiv={2405.14199},
}

@inproceedings{bouvier2024learning,
	title={Learning to Provably Satisfy High Relative Degree Constraints for Black-Box Systems},
	author={Jean-Baptiste Bouvier and Kartik Nagpal and Negar Mehr},
	year={2024},
	booktitle={Conference on Decision and Control (CDC)},
	arxiv={2407.20456},
	html={https://iconlab.negarmehr.com/CDC-POLICEd-RL},
	code={https://github.com/labicon/CDC-POLICEd-RL},
	preview={POLICEd_shuttle.gif}
}

@inproceedings{ryu2024risk,
  title={Risk-Sensitive Orbital Debris Collision Avoidance using Distributionally Robust Chance Constraints},
  author={Ryu, Kanghyun and Bouvier, Jean-Baptiste and Lalani, Shazaib and Eggl, Siegfried and Mehr, Negar},
  booktitle={AIAA Scitech 2025 Forum},
  year={2025},
  arxiv={2412.17358}
}

@inproceedings{ryu2025curricullm,
	title={CurricuLLm: Automatic task curricula design for learning complex robot skills using large language models}, 
	author={Ryu, Kanghyun and Liao, Qiayuan and Li, Zhongyu and Sreenath, Koushil and Mehr, Negar},
	booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
	year={2025},
	organization={IEEE},
	arxiv={2409.18382},
	html={https://iconlab.negarmehr.com/CurricuLLM},
	code={https://github.com/labicon/CurricuLLM},
	preview={CurricuLLM_preview.gif}
}

@inproceedings{bouvier2025ddat,
	title={DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories},
	author={Jean-Baptiste Bouvier and Kanghyun Ryu and Kartik Nagpal and Qiayuan Liao and Koushil Sreenath and Negar Mehr},
	year={2025},
	booktitle={Preprint (under review)},
	arxiv={2502.15043},
	html={https://iconlab.negarmehr.com/DDAT},
	code={https://github.com/labicon/DDAT},
	preview={DDAT_GO2_comparison.gif}
}