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publications.html
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<!DOCTYPE HTML>
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<a href="index.html" class="logo"><strong>Somil Bansal</strong></a>
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<h1>Publications</h1>
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<h2 id="content"> <u>Journal Articles</u> </h2>
<p> <strong> Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots </strong>
<br> Jason Choi, Ayush Agrawal, Koushil Sreenath, Claire Tomlin, <em>Somil Bansal</em>
<br> IEEE Robotics and Automation Letters (RA-L), and
<br> International Conference on Robotics and Automation (ICRA), 2022
<a href="https://arxiv.org/pdf/2201.08538.pdf">[PDF]</a>
<a href="https://hybridreachability.github.io/website-hybrid-roa/">[Code and Videos]</a>
</p>
<p> <strong> Provably Safe and Scalable Multi-Vehicle Trajectory Planning </strong>
<br> <em>Somil Bansal</em>, Mo Chen, Ken Tanabe, Claire Tomlin
<br> IEEE Transactions on Control Systems Technology (TCST), 2021
<a href="Papers/Sequential_Trajectory_Planning.pdf">[PDF]</a>
<a href="https://www.youtube.com/watch?v=1ocaBGZqSAE">[Video]</a>
</p>
<p> <strong> Visual Navigation Among Humans with Optimal Control as a Supervisor </strong>
<br> Varun Tolani, <em>Somil Bansal</em>, Aleksandra Faust, Claire J. Tomlin
<br> IEEE Robotics and Automation Letters (RA-L), and
<br> International Conference on Robotics and Automation (ICRA), 2021
<a href="https://arxiv.org/pdf/2003.09354.pdf">[PDF]</a>
<a href="https://smlbansal.github.io/LB-WayPtNav-DH/">[Code and Videos]</a>
</p>
<!--
<p> <strong> SPEC: An Approach to Determine Safe Environments and Controllers for Systems with Unknown Dynamics </strong>
<br> <em>Somil Bansal</em>, Shromona Ghosh, Alberto Sangiovanni-Vincentelli, Sanjit Seshia, Claire Tomlin
<br> IEEE Transactions on Automatic Control (TAC) (in prepration)
</p>
-->
<p> <strong> A Robust Control Framework for Human Motion Prediction </strong>
<br> Andrea Bajcsy, <em>Somil Bansal</em>, Ellis Ratner, Claire J. Tomlin, Anca D. Dragan
<br> IEEE Robotics and Automation Letters (RA-L), 2020
<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9210199&casa_token=7FXauSHLlN0AAAAA:6eM2Whnb8PYD_9sk91jshVTvjaRKdsl_o6ZzXcB2ZPtLvfumB1LI0JPVdpsAdzghIdoB5gT5EV0H&tag=1">[PDF]</a>
</p>
<p> <strong> FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking </strong>
<br> Mo Chen, Sylvia Herbert, Haimin Hu, Ye Pu, Jaime F. Fisac, <em>Somil Bansal</em>, SooJean Han, Claire Tomlin
<br> IEEE Transactions on Automatic Control (TAC), 2020
<a href="https://sfumars.com/wp-content/papers/2019_tac_fastrack.pdf">[PDF]</a>
</p>
<p> <strong> Robust Sequential Path Planning Under Disturbances and Adversarial Intruder </strong>
<br> Mo Chen, <em>Somil Bansal</em>, Jaime F. Fisac, Claire Tomlin
<br> IEEE Transactions on Control Systems Technology (TCST), 2017
<a href="https://arxiv.org/abs/1611.08364">[PDF]</a>
<a href="bib/HJI/journal/journal1.txt">[BibTeX]</a>
</p>
<p> <strong> Decomposition of Reachable Sets and Tubes for a Class of Nonlinear Systems </strong>
<br> Mo Chen, Sylvia Herbert, Mahesh Vashishtha, <em>Somil Bansal</em>, Claire Tomlin
<br> IEEE Transactions on Automatic Control (TAC), 2017
<a href="https://arxiv.org/abs/1611.00122">[PDF]</a>
<a href="bib/HJI/journal/decomposition.txt">[BibTeX]</a>
</p>
<p> <strong> Plug-and-Play Model Predictive Control for Load Shaping and Voltage Control in Smart Grids </strong>
<br> Caroline L. Floch, <em>Somil Bansal</em>, Claire Tomlin, Scott Moura, Melanie Zeilinger
<br> IEEE Transactions on Smart Grid, 2017
<a href="https://arxiv.org/abs/1606.06682">[PDF]</a>
<a href="bib/power/journal/loadshaping.txt">[BibTeX]</a>
</p>
<h2 id="content"> <u>Peer-Reviewed Conference Articles</u> </h2>
<p> <strong> Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online </strong>
<br> Javier Borquez, Kensuke Nakamura, <em>Somil Bansal</em>
<br> arXiv Pre-print, 2022
<a href="https://arxiv.org/pdf/2209.14976.pdf">[PDF]</a>
</p>
<p> <strong> Generating Formal Safety Assurances for High-Dimensional Reachability </strong>
<br> Albert Lin, <em>Somil Bansal</em>
<br> arXiv Pre-print, 2022
<a href="https://arxiv.org/pdf/2209.12336.pdf">[PDF]</a>
</p>
<p> <strong> DeepReach: A Deep Learning Approach to High-Dimensional Reachability </strong>
<br> <em>Somil Bansal</em>, Claire J. Tomlin
<br> International Conference on Robotics and Automation (ICRA), 2021
<a href="https://arxiv.org/pdf/2011.02082.pdf">[PDF]</a>
<a href="https://github.com/smlbansal/deepreach.git">[Code]</a>
</p>
<p> <strong> Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability </strong>
<br> Anjian Li, <em>Somil Bansal</em>, Georgios Giovanis, Varun Tolani, Claire J. Tomlin, Mo Chen
<br> 2nd Annual Conference on Learning for Dynamics and Control (L4DC), 2020
<a href="https://arxiv.org/pdf/1912.10120.pdf">[PDF]</a>
</p>
<p> <strong> A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning </strong>
<br> <em>Somil Bansal</em>, Andrea Bajcsy, Ellis Ratner, Anca D. Dragan, Claire J. Tomlin
<br> International Conference on Robotics and Automation (ICRA), 2020
<a href="https://arxiv.org/abs/1910.13369">[PDF]</a>
</p>
<p> <strong> Combining Optimal Control and Learning for Visual Navigation in Novel Environments </strong>
<br> <em>Somil Bansal</em>, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire J. Tomlin
<br> Conference on Robot Learning (CoRL), 2019
<a href="https://arxiv.org/abs/1903.02531">[PDF]</a>
<a href="bib/ML/vmpc.txt">[BibTeX]</a>
<a href="https://smlbansal.github.io/LB-WayPtNav/">[Code and Videos]</a>
</p>
<p> <strong> An Efficient Reachability-Based Framework for Provably Safe Autonomous Navigation in Unknown Environments </strong>
<br> Andrea Bajcsy, <em>Somil Bansal</em>, Eli Bronstein, Varun Tolani, Claire J. Tomlin
<br> IEEE Conference on Decision and Control (CDC), 2019
<a href="https://arxiv.org/abs/1905.00532">[PDF]</a>
<a href="bib/ML/SafeNav.txt">[BibTeX]</a>
<a href="https://smlbansal.github.io/website-safe-navigation/">[Project Website and Videos]</a>
</p>
<p> <strong> Reachability-Based Safety Guarantees Using Efficient Initializations </strong>
<br> Sylvia Herbert, <em>Somil Bansal</em>, Shromona Ghosh, Claire J. Tomlin
<br> IEEE Conference on Decision and Control (CDC), 2019
<a href="https://arxiv.org/abs/1903.07715">[PDF]</a>
<a href="bib/HJI/conference/warm_start.txt">[BibTeX]</a>
</p>
<p> <strong> Closed-Loop Model Selection for Kernel-based Models Using Bayesian Optimization </strong>
<br> Thomas Beckers, <em>Somil Bansal</em>, Claire J. Tomlin, Sandra Hirche
<br> IEEE Conference on Decision and Control (CDC), 2019
<a href="https://arxiv.org/abs/1909.05699">[PDF]</a>
</p>
<p> <strong> A New Simulation Metric to Determine Safe Environments and Controllers for Systems with Unknown Dynamics </strong>
<br> Shromona Ghosh, <em>Somil Bansal</em>, Alberto Sangiovanni-Vincentelli, Sanjit Seshia, Claire Tomlin
<br> ACM International Conference on Hybrid Systems: Computation and Control (HSCC), 2019
<a href="https://arxiv.org/abs/1902.10320">[PDF]</a>
<a href="bib/ML/model_verification.txt">[BibTeX]</a>
</p>
<p> <strong> Goal-Driven Dynamics Learning via Bayesian Optimization </strong>
<br> <em>Somil Bansal</em>, Roberto Calandra, Ted Xiao, Sergey Levine, Claire Tomlin
<br> IEEE Conference on Decision and Control (CDC), 2017
<a href="https://arxiv.org/abs/1703.09260">[PDF]</a>
<a href="bib/ML/adobo.txt">[BibTeX]</a>
<a href="https://youtu.be/Too_GmSzOAA">[Video]</a>
</p>
<p> <strong> Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances </strong>
<br> <em>Somil Bansal</em>, Mo Chen, Sylvia Herbert, Claire Tomlin
<br> IEEE Conference on Decision and Control (CDC), 2017
<a href="https://arxiv.org/abs/1709.07523">[PDF]</a>
<a href="bib/HJI/conference/tutorial.txt">[BibTeX]</a>
<a href="https://www.youtube.com/playlist?list=PLrmdED6yqL3W6iCM3Vio3WzrsTTpkiluy">[Videos]</a>
</p>
<p> <strong> FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning </strong>
<br> Sylvia Herbert, Mo Chen, Soojean Han, <em>Somil Bansal</em>, Jaime F. Fisac, Claire Tomlin
<br> IEEE Conference on Decision and Control (CDC), 2017
<a href="https://arxiv.org/abs/1703.07373">[PDF]</a>
<a href="bib/HJI/conference/fastrack.txt">[BibTeX]</a>
</p>
<p> <strong> Safe Sequential Path Planning of Multi-Vehicle Systems Under Disturbances and Imperfect Information </strong>
<br> <em>Somil Bansal</em>, Mo Chen, Jaime F. Fisac, Claire Tomlin
<br> American Control Conference (ACC), 2017
<a href="https://arxiv.org/abs/1603.05208">[PDF]</a>
<a href="bib/HJI/conference/spp.txt">[BibTeX]</a>
</p>
<p> <strong> Learning Quadrotor Dynamics Using Neural Network for Flight Control </strong>
<br> <em>Somil Bansal</em>, Anayo K. Akametalu, Frank Jiang, Forrest Laine, Claire Tomlin
<br> IEEE Conference on Decision and Control (CDC), 2016
<a href="https://arxiv.org/abs/1610.05863">[PDF]</a>
<a href="bib/ML/quad_dyn.txt">[BibTeX]</a>
<a href="https://www.youtube.com/watch?v=AeIfZbkjWPA">[Video]</a>
</p>
<p> <strong> Plug-and-Play Model Predictive Control for Electrical Vehicle Charging and Voltage Control in Smart Grids </strong>
<br> <em>Somil Bansal</em>, Melanie Zeilinger, Claire Tomlin
<br> IEEE Conference on Decision and Control (CDC), 2014
<a href="Papers/EV_Charging.pdf">[PDF]</a>
<a href="bib/power/conference/voltcontrol.txt">[BibTeX]</a>
</p>
<h2 id="content"> <u>Book Chapters</u> </h2>
<p> <strong> Control and Safety of Autonomous Vehicles with Learning-Enabled Components </strong>
<br> <em>Somil Bansal</em>, Claire Tomlin
<br> Safe, Autonomous and Intelligent Vehicles, Springer, Page 57-75, 2019
<a href="https://link.springer.com/chapter/10.1007/978-3-319-97301-2_4">[PDF]</a>
<a href="bib/ML/boeing_chapter.txt">[BibTeX]</a>
</p>
<h2 id="content"> <u>Workshop Publications</u> </h2>
<p> <strong> Combining Optimal Control and Learning for Visual Navigation in Novel Environments </strong>
<br> <em>Somil Bansal</em>, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire Tomlin
<br> Workshop on Deep Learning for Visual Navigation
<br> Conference on Computer Vision and Pattern Recognition (CVPR), 2019
</p>
<p> <strong> Safe Learning-Enabled Decision Making for Autonomous Navigation in Novel Environments </strong>
<br> <em>Somil Bansal</em>, Claire Tomlin
<br> Workshop on Algorithms and Architectures for Learning-in-the-loop Systems in Autonomous Flight
<br> International Conference on Robotics and Automation (ICRA), 2019
</p>
<p> <strong> Advancing the Runtime of Hamilton-Jacobi Reachability Analysis </strong>
<br> <em>Somil Bansal</em>, Claire Tomlin
<br> Workshop on Towards Online Optimal Control of Dynamic Robots
<br> International Conference on Robotics and Automation (ICRA), 2019
</p>
<h2 id="content"> <u>Technical Reports</u> </h2>
<p> <strong> Context-Specific Validation of Data-Driven Models </strong>
<br> <em>Somil Bansal</em>, Shromona Ghosh, Alberto Sangiovanni-Vincentelli, Sanjit Seshia, Claire Tomlin
<br> Technical report, March 2018
<a href="https://arxiv.org/abs/1802.04929">[PDF]</a>
<a href="bib/ML/model_validation.txt">[BibTeX]</a>
</p>
<p> <strong> Safe and Resilient Multi-vehicle Trajectory Planning Under Adversarial Intruder </strong>
<br> <em>Somil Bansal</em>, Mo Chen, Claire Tomlin
<br> Technical report, November 2017
<a href="https://arxiv.org/abs/1711.02540">[PDF]</a>
</p>
<p> <strong> MBMF: Model-Based Priors for Model-Free Reinforcement Learning </strong>
<br> <em>Somil Bansal</em>, Roberto Calandra, Kurtland Chua, Sergey Levine, Claire Tomlin
<br> Technical report, June 2017
<a href="https://arxiv.org/abs/1709.03153">[PDF]</a>
<a href="bib/ML/mbmf.txt">[BibTeX]</a>
</p>
<p> <strong> Model Predictive Control Approach to Electric Vehicle Charging in Smart Grids </strong>
<br> <em>Somil Bansal</em>
<br> MS Thesis, Department of Electrical Engineering and Computer Sciences, UC Berkeley, May 2014
<a href="http://digitalassets.lib.berkeley.edu/techreports/ucb/text/EECS-2015-31.pdf">[PDF]</a>
</p>
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