publications

2024

  1. DRCC-MPC_hotel.gif
    Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds
    Kanghyun Ryu , and Negar Mehr
    arXiv preprint arXiv:2403.05081, 2024
    arXiv
  2. POLICEd_RL_gif.gif
    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

2023

  1. 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
  2. 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

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
  2. Congestion-aware Multi-model Delivery Systems Utilizing Drones
    Mark Beliaev , Negar Mehr , and Ramtin Pedarsani
    European Control Conference, 2022
  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 HTML
  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
    HTML
  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
    HTML

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
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  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
    HTML
  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
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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 HTML
  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
    HTML
  3. Pricing traffic networks with mixed vehicle autonomy
    Negar Mehr , and Roberto Horowitz
    In 2019 American Control Conference (ACC) , Jul 2019
    arXiv HTML

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
    HTML
  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
    HTML
  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
    HTML
  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
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  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
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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
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  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
    HTML
  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
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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
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  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
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  3. Probabilistic freeway ramp metering
    Negar Mehr , and Roberto Horowitz
    In Dynamic Systems and Control Conference , Jul 2016
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  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
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