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
    In 2024 IEEE International Conference on Robotics and Automation (ICRA) , 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 HTML Code
  3. 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
  4. POLICEd_shuttle.gif
    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 HTML Code

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
    HTML
  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
    HTML

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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