publications

2025

1. Strategic Decision-Making in Multi-Agent Domains: A Weighted Potential Dynamic Game Approach

   Maulik Bhatt , Yixuan Jia , and Negar Mehr

   IEEE Transactions on Robotics, 2025

   arXiv Bib

   @article{bhatt2023strategic,
     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},
   }

2. Leveraging Large Language Models for Effective and Explainable Multi-Agent Credit Assignment

   Kartik Nagpal , Dayi Dong , Jean-Baptiste Bouvier , and 1 more author

   In 24th International Conference on Autonomous Agents and Multiagent Systems (AAMAS) , 2025

   arXiv Bib HTML

   @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)},
   }

3. Risk-Sensitive Orbital Debris Collision Avoidance using Distributionally Robust Chance Constraints

   Kanghyun Ryu , Jean-Baptiste Bouvier , Shazaib Lalani , and 2 more authors

   In AIAA Scitech 2025 Forum , 2025

   arXiv Bib

   @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},
   }

4. 

   CurricuLLm: Automatic task curricula design for learning complex robot skills using large language models

   Kanghyun Ryu , Qiayuan Liao , Zhongyu Li , and 2 more authors

   In 2025 IEEE International Conference on Robotics and Automation (ICRA) , 2025

   arXiv Bib HTML Code

   @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},
   }

5. 

   DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories

   Jean-Baptiste Bouvier , Kanghyun Ryu , Kartik Nagpal , and 3 more authors

   In Robotics: Science and Systems (RSS) , 2025

   arXiv Bib HTML Code

   @inproceedings{bouvier2025ddat,
     title = {DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories},
     author = {Bouvier, Jean-Baptiste and Ryu, Kanghyun and Nagpal, Kartik and Liao, Qiayuan and Sreenath, Koushil and Mehr, Negar},
     year = {2025},
     booktitle = {Robotics: Science and Systems (RSS)},
   }

2024

1. Optimal Robotic Assembly Sequence Planning (ORASP): A Sequential Decision-Making Approach

   Kartik Nagpal , and Negar Mehr

   In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2024

   arXiv Bib HTML

   @inproceedings{nagpal2024orasp,
     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},
     pages = {9847-9854},
     organization = {IEEE},
     keywords = {Robotic assembly;Sequential analysis;Uncertainty;Tracking;Search methods;Decision making;Telescopes;Deep reinforcement learning;Planning;Assembly},
     doi = {10.1109/IROS58592.2024.10802475},
   }

2. To what extent do open-loop and feedback Nash equilibria diverge in general-sum linear quadratic dynamic games?

   Chih-Yuan Chiu , Jingqi Li , Maulik Bhatt , and 1 more author

   IEEE Control Systems Letters, 2024

   Bib

   @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}
   }

3. 

   Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds

   Kanghyun Ryu , and Negar Mehr

   In 2024 IEEE International Conference on Robotics and Automation (ICRA) , 2024

   arXiv Bib

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

4. 

   POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard Constraints

   Jean-Baptiste Bouvier , Kartik Nagpal , and Negar Mehr

   In Robotics: Science and Systems (RSS) , 2024

   arXiv Bib HTML Code

   @inproceedings{bouvier2024policed,
     title = {POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard Constraints},
     author = {Bouvier, Jean-Baptiste and Nagpal, Kartik and Mehr, Negar},
     year = {2024},
     booktitle = {Robotics: Science and Systems (RSS)},
   }

5. Adaptive Teaching in Heterogeneous Agents: Balancing Surprise in Sparse Reward Scenarios

   Emma Clark , Kanghyun Ryu , and Negar Mehr

   In Learning for Dynamics and Control Conference , 2024

   arXiv Bib

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

6. 

   Learning to Provably Satisfy High Relative Degree Constraints for Black-Box Systems

   Jean-Baptiste Bouvier , Kartik Nagpal , and Negar Mehr

   In Conference on Decision and Control (CDC) , 2024

   arXiv Bib HTML Code

   @inproceedings{bouvier2024learning,
     title = {Learning to Provably Satisfy High Relative Degree Constraints for Black-Box Systems},
     author = {Bouvier, Jean-Baptiste and Nagpal, Kartik and Mehr, Negar},
     year = {2024},
     booktitle = {Conference on Decision and Control (CDC)},
   }

2023

1. Efficient constrained multi-agent trajectory optimization using dynamic potential games

   Maulik Bhatt , Yixuan Jia , and Negar Mehr

   In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2023

   Bib

   @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}
   }

2. Rapid: Autonomous multi-agent racing using constrained potential dynamic games

   Yixuan Jia , Maulik Bhatt , and Negar Mehr

   In 2023 European Control Conference (ECC) , 2023

   Bib

   @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}
   }

3. Maximum-entropy multi-agent dynamic games: Forward and inverse solutions

   Negar Mehr, Mingyu Wang , Maulik Bhatt , and 1 more author

   IEEE Transactions on Robotics, 2023

   Bib

   @article{mehr2023maximum,
     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}
   }

4. Weathering ongoing uncertainty: learning and planning in a time-varying partially observable environment

   Gokul Puthumanaillam , Xiangyu Liu , Negar Mehr, and 1 more author

   arXiv preprint arXiv:2312.03263, 2023

   Bib

   @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}
   }

2022

1. Stackelberg routing of autonomous cars in mixed-autonomy traffic networks

   Maxwell Kolarich , and Negar Mehr

   In 2022 Annual American Control Conference (ACC) , 2022

   Bib

   @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}
   }

2. Congestion-aware Multi-model Delivery Systems Utilizing Drones

   Mark Beliaev , Negar Mehr, and Ramtin Pedarsani

   European Control Conference, 2022

   Bib

   @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}
   }

3. Learning Contraction Policies from Offline Data

   Navid Rezazadeh , Maxwell Kolarich , Solmaz Kia , and 1 more author

   IEEE Robotics and Automation Letters, 2022

2021

1. Potential iLQR: A Potential-Minimizing Controller for Planning Multi-Agent Interactive Trajectories

   Talha Kavuncu , Ayberk Yaraneri , and Negar Mehr

   In Proceedings of Robotics: Science and Systems , Jul 2021

   arXiv Bib HTML

   @inproceedings{Kavuncu-RSS-21,
     author = {Kavuncu, Talha and Yaraneri, Ayberk and Mehr, Negar},
     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 = jul,
     doi = {10.15607/RSS.2021.XVII.084},
   }

2. A game theoretic macroscopic model of lane choices at traffic diverges with applications to mixed–autonomy networks

   Negar Mehr, Ruolin Li , and Roberto Horowitz

   Transportation Research Part B: Methodological, Jul 2021

   Bib 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},
   }

3. Rat ilqr: A risk auto-tuning controller to optimally account for stochastic model mismatch

   Haruki Nishimura , Negar Mehr, Adrien Gaidon , and 1 more author

   IEEE Robotics and Automation Letters, Jul 2021

   Bib HTML

   @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},
   }

2020

1. Game-Theoretic Planning for Risk-Aware Interactive Agents

   Mingyu Wang , Negar Mehr, Adrien Gaidon , and 1 more author

   In 2020 IEEE International Conference on Intelligent Robots and Systems (IROS) , Jul 2020

   Bib HTML

   @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},
   }

2. The Impact of Autonomous Vehicles’ Headway on the Social Delay of Traffic Networks

   Ruolin Li , Negar Mehr, and Roberto Horowitz

   In 2020 59th IEEE Conference on Decision and Control (CDC) , Jul 2020

   Bib HTML

   @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},
   }

3. Platoon Formation Algorithm for Minimizing Travel Time

   Mikhail Burov , Negar Mehr, Stanley Smith , and 2 more authors

   In 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) , Jul 2020

   Bib HTML

   @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},
   }

2019

1. How will the presence of autonomous vehicles affect the equilibrium state of traffic networks?

   Negar Mehr, and Roberto Horowitz

   IEEE Transactions on Control of Network Systems, Jul 2019

   arXiv Bib HTML

   @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},
   }

2. An Extended Game–Theoretic Model for Aggregate Lane Choice Behavior of Vehicles at Traffic Diverges with a Bifurcating Lane

   Ruolin Li , Negar Mehr, and Roberto Horowitz

   In 2019 IEEE Intelligent Transportation Systems Conference (ITSC) , Jul 2019

   Bib HTML

   @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},
   }

3. Pricing traffic networks with mixed vehicle autonomy

   Negar Mehr, and Roberto Horowitz

   In 2019 American Control Conference (ACC) , Jul 2019

   arXiv Bib HTML

   @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},
   }

2018

1. A game theoretic model for aggregate bypassing behavior of vehicles at traffic diverges

   Negar Mehr, Ruolin Li , and Roberto Horowitz

   In 2018 21st International Conference on Intelligent Transportation Systems (ITSC) , Jul 2018

   Bib HTML

   @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},
   }

2. Can the presence of autonomous vehicles worsen the equilibrium state of traffic networks?

   Negar Mehr, and Roberto Horowitz

   In 2018 IEEE Conference on Decision and Control (CDC) , Jul 2018

   Bib HTML

   @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},
   }

3. Signal Control for Urban Traffic Networks with Unknown System Parameters

   Negar Mehr, Jennie Lioris , Roberto Horowitz , and 1 more author

   In 2018 21st International Conference on Intelligent Transportation Systems (ITSC) , Jul 2018

   Bib HTML

   @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},
   }

4. Offset selection for bandwidth maximization on multiple routes

   Negar Mehr, Marc Sanselme , Nitzan Orr , and 2 more authors

   In 2018 Annual American Control Conference (ACC) , Jul 2018

   Bib HTML

   @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},
   }

5. A submodular approach for optimal sensor placement in traffic networks

   Negar Mehr, and Roberto Horowitz

   In 2018 Annual American Control Conference (ACC) , Jul 2018

   Bib HTML

   @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},
   }

2017

1. Stochastic predictive freeway ramp metering from signal temporal logic specifications

   Negar Mehr, Dorsa Sadigh , Roberto Horowitz , and 2 more authors

   In 2017 American Control Conference (ACC) , Jul 2017

   Bib HTML

   @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},
   }

2. Joint perimeter and signal control of urban traffic via network utility maximization

   Negar Mehr, Jennie Lioris , Roberto Horowitz , and 1 more author

   In 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC) , Jul 2017

   Bib HTML

   @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},
   }

3. Low-complexity ramp metering for freeway congestion control via network utility maximization

   Negar Mehr, Roberto Horowitz , and Ramtin Pedarsani

   In 2017 IEEE 56th Annual Conference on Decision and Control (CDC) , Jul 2017

   Bib HTML

   @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},
   }

2016

1. Stable hybrid model predictive control for ramp metering

   Sarah Koehler , Negar Mehr, Roberto Horowitz , and 1 more author

   In 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) , Jul 2016

   Bib HTML

   @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},
   }

2. Inferring and assisting with constraints in shared autonomy

   Negar Mehr, Roberto Horowitz , and Anca D Dragan

   In 2016 IEEE 55th Conference on Decision and Control (CDC) , Jul 2016

   Bib HTML

   @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},
   }

3. Probabilistic freeway ramp metering

   Negar Mehr, and Roberto Horowitz

   In Dynamic Systems and Control Conference , Jul 2016

   Bib HTML

   @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},
   }

4. Optimal mode-switching and control synthesis for floating offshore wind turbines

   Behrooz Shahsavari , Omid Bagherieh , Negar Mehr, and 2 more authors

   In 2016 American Control Conference (ACC) , Jul 2016

   Bib HTML

   @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},
   }