Publications
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Recent work
Being correct is not enough: efficient verification using robust linear temporal logic
Tzanis Anevlavis, Matthew Philippe, Daniel Neider, Paulo Tabuada
arXiv: 2102.11991
Joint Continuous and Discrete Model Selection via Submodularity
Jonathan Bunton and Paulo Tabuada
arXiv: 2102.09029
On the Computational Complexity of the Secure State-Reconstruction Problem
Yanwen Mao, Aritra Mitra, Shreyas Sundaram, and Paulo Tabuada
arXiv: 2101.01827
Universal Approximation Power of Deep Neural Networks via Nonlinear Control Theory
Paulo Tabuada and Bahman Gharesifard
To appear in ICLR 2021.
arXiv: 2007.06007
A coding approach to localization using landmarks
Juan C. Rebanal, Yahya H. Ezzeldin, Christina Fragouli, and Paulo Tabuada
GLOBECOM 2020.
Why not both? Exact continuous and discrete optimization with submodularity
Jonathan Bunton and Paulo Tabuada
CDC 2020.
To beam or not to beam? Beamforming with submodularity-inspired group sparsity
Tzanis Anevlavis, Jonathan Bunton, Anjaly Parayil, Jemin George, and Paulo Tabuada
CDC 2020.
Privacy Against Adversarial Classification in Cyber-Physical Systems
Carlos Murguia and Paulo Tabuada
CDC 2020.
Persistent Connected Power Constrained Surveillance with Unmanned Aerial Vehicles
Pradipta Ghosh, Paulo Tabuada, Ramesh Govindan, and Gaurav S. Sukhatme
IROS, 2020.
Data-driven Stabilization of SISO Feedback Linearizable Systems
Paulo Tabuada and Lucas Fraile
arXiv: 2003.14240
Rapid Top-Down Synthesis of Large-Scale IoT Networks
Pradipta Ghosh, Jonathan Bunton, Dimitrios Pylorof, Marcos Vieira, Kevin Chan, Ramesh Govindan, Gaurav Sukhatme, Paulo Tabuada, and Gunjan Verma
Proceedings of the 29th International Conference on Computer Communications and Networks, 2020.
arXiv: 2002.04244
Secure State-Reconstruction Over Networks Subject to Attacks
Yanwen Mao, Suhas Diggavi, Christina Fragouli, and Paulo Tabuada
IEEE Control Systems Letters, 5(1), 2021.
DOI: 10.1109/LCSYS.2020.3000853
Control Barrier Function based Quadratic Programs Introduce Undesirable Asymptotically Stable Equilibria
Matheus F. Reis, A. Pedro Aguiar, and Paulo Tabuada
IEEE Control Systems Letters, 5(2), 2021.
DOI: 10.1109/LCSYS.2020.3004797
arXiv: 2003.07819
Books
Verification and Control of Hybrid Systems: A Symbolic ApproachPaulo Tabuada
Springer, 2009.
Available online through SpringerLink
Hybrid Systems: Computation and Control (HSCC'09)Rupak Majumdar and Paulo Tabuada, (Eds.)Volume 5469 of Lecture Notes in Computer ScienceSpringer, 2009.
Networked Embedded Sensing and ControlPanos J. Antsaklis and Paulo Tabuada, (Eds.)Volume 331 of Lecture Notes in Control and Information SciencesSpringer, 2006.
Journal papers
Distorting an Adversary's View in Cyber-Physical Systems
Gaurav Kumar Agarwal, Mohammed Karmoose, Suhas Diggavi, Christina Fragouli, and Paulo Tabuada
To appear in IEEE Transactions on Automatic Control
arXiv: 1809.04580
Cloud-based Quadratic Optimization with Partially Homomorphic Encryption
Andreea B. Alexandru, Konstantinos Gatsis, Yasser Shoukry, Sanjit A. Seshia, Paulo Tabuada, and George J. Pappas
To appear in IEEE Transactions on Automatic Control
Symmetries and isomorphisms for privacy in control over the cloud
Alimzhan Sultangazin, Paulo Tabuada
IEEE Transactions on Automatic Control, 66(2), 2021.
arXiv: 1906.07460
Secure State-Reconstruction Over Networks Subject to Attacks
Yanwen Mao, Suhas Diggavi, Christina Fragouli, and Paulo Tabuada
IEEE Control Systems Letters, 5(1), 2021.
DOI: 10.1109/LCSYS.2020.3000853
Control Barrier Function based Quadratic Programs Introduce Undesirable Asymptotically Stable Equilibria
Matheus F. Reis, A. Pedro Aguiar, and Paulo Tabuada
IEEE Control Systems Letters, 5(2), 2021.
DOI: 10.1109/LCSYS.2020.3004797
arXiv: 2003.07819
Securing state reconstruction under sensor and actuator attacks: Theory and design
Mehrdad Showkatbakhsh, Yasser Shoukry, Suhas N.Diggavi, and Paulo Tabuada
Automatica, 116, 2020.
DOI: 10.1016/j.automatica.2020.108920
Sum-of-Squares methods for controlled invariant sets with applications to model-predictive control
Benoit Legat, Paulo Tabuada, and Raphael M. Jungers
Nonlinear and Analysis: Hybrid Systems, 36, 2020.
DOI: 10.1016/j.nahs.2020.100858
Position paper on the challenges posed by modern applications to cyber-physical systems theory
Frank Allgower, Joao Borges de Sousa, James Kapinski, Pieter Mosterman, Jens Oehlerking, Patrick Panciatici, Maria Prandini, Akshay Rajhans, Paulo Tabuada, and Philipp Wenzelburger
Nonlinear Analysis: Hybrid Systems, 34, 2019.
DOI: 10.1016/j.nahs.2019.05.007
Data Driven Stability Analysis of Black-box Switched Linear Systems
Joris Kenanian, Ayca Balkan, Raphael M. Jungers, Paulo Tabuada
Automatica, 109, 2019.
DOI: 10.1016/j.automatica.2019.108533
Toward an Internet of Battle.eld Things: A Resilience Perspective
Tarek Abdelzaher, Nora Ayanian, Tamer Basar, Suhas Diggavi, Jana Diesner, Deepak Ganesan, Ramesh Govindan, Susmit Jha, Tancrede Lepoint, Benjamin Marlin, Klara Nahrstedt, David Nicol, Raj Rajkumar, Stephen Russell, Sanjit Seshia, Fei Sha, Prashant Shenoy, Mani Srivastava, Gaurav Sukhatme, Ananthram Swami, Paulo Tabuada, Don Towsley, Nitin Vaidya, and Venu Veeravalli
Computer, 51(11), 2018.
Supervisory Control of Discrete-Event Systems under Attacks
Masashi Wakaiki, Paulo Tabuada, Joao P. Hespanha
Dynamic Games and Applications, 2018
DOI: 10.1007/s13235-018-0285-3
arXiv: 1701.00881
Periodic event-triggered control of nonlinear systems using over-approximation techniques
Dominicus Paulus Borgers, Romain Postoyan, Adolfo Anta, Paulo Tabuada, Dragan Nesic, Maurice Heemels
Automatica, 94, 2018.
DOI: 10.1016/j.automatica.2018.04.019
Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control
Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada, and Aaron D. Ames
Automatica, 94, 2018.
DOI: 10.1016/j.automatica.2018.04.019
Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control
Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada, and Aaron D. Ames
IEEE Transactions on Automation Science and Engineering, 15(3), 2018.
DOI: 10.1109/TASE.2017.2760863
Underminer: A Framework for Identifying Non-convergent Behaviors in Black-Box System Models
Ayca Balkan, Paulo Tabuada, Jyotirmoy V. Deshmukh, Xiaqing Jin, and James Kapinski
ACM Transactions on Embedded Computing Systems, 17(1), 2018.
DOI: 10.1145/3122787
Mode-Target Games: Reactive Synthesis for Control Applications
Ayca Balkan, Moshe Vardi, Paulo Tabuada
IEEE Transactions on Automatic Control, 63(1), 2018.
arXiv:1504.07702
Secure State Estimation for Cyber-Physical Systems Under Sensor Attacks: A Satisfiability Modulo Theory Approach
Yasser Shoukry, Pierluigi Nuzzo, Alberto Puggelli, Alberto Sangiovanni-Vincentelli, Sanjit A. Seshia, Paulo Tabuada
IEEE Transactions on Automatic Control, 62(10), 2017.
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
Aaron D. Ames, Xiangru Xu, Jessy W. Grizzle, and Paulo Tabuada
IEEE Transactions on Automatic Control, 62(8), 2017.
Abstracting Partially Feedback Linearizable Systems Compositionally
Omar Hussien, Aaron Ames, and Paulo Tabuada
IEEE Control Systems Letters, 1(2), 2017.
DOI: 10.1109/LCSYS.2017.2713461
Secure State Estimation Against Sensor Attacks in the Presence of Noise
Shaunak Mishra, Yasser Shoukry, Nikhil Karamchandani, Suhas Diggavi, Paulo Tabuada
IEEE Transactions on Control of Network Systems, 4(1), 49-59, 2017.
Special issue on Secure Control of Cyber-Physical Systems
DOI: 10.1109/TCNS.2016.2606880
arXiv:1504.05566
First steps toward formal controller synthesis for bipedal robots with experimental implementation
Aaron D. Ames, Paulo Tabuada, Austin Jones, Wen-Loong Mae, Matthias Rungger, Bastian SchĂĽrmann, Shishir Kolathaya, and Jessy W. Grizzle
Nonlinear Analysis: Hybrid Systems, 25, 2017.
DOI: 10.1016/j.nahs.2017.01.002
Computing Robust Controlled Invariant Sets of Linear Systems
Matthias Rungger and Paulo Tabuada
IEEE Transactions on Automatic Control, 62(7), 2017.
arXiv:1601.00416
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
Aaron D. Ames, Xiangru Xu, Jessy W. Grizzle, and Paulo Tabuada
IEEE Transactions on Automatic Control, 62(8), 2017.
A Notion of Robustness for Cyber-Physical Systems
Matthias Rungger and Paulo Tabuada
IEEE Transactions on Automatic Control, 61(8), 2016.
arXiv:1310.5199
Event-Triggered State Observers for Sparse Noise/Attacks
Y. Shoukry and P. Tabuada
IEEE Transactions on Automatic Control, 61(8), 2016.
arXiv:1309:3511
Correct-by-Construction Adpative Cruise Control: Two approaches
P. Nilsson, O. Hussien, A. Balkan, Y. Chen, A. Ames, J. Grizzle, N. Ozay, H. Peng, and P. Tabuada
IEEE Transactions on Control Systems Technology, 24(4), 2016.
A Framework for the Event-Triggered Stabilization of Nonlinear Systems
R. Postoyan, P. Tabuada, D. Nesic, and A. Anta
IEEE Transactions on Automatic Control, 60(4), 2015.
Compositional Transient Stability Analysis of Multi-Machine Power Networks
Sina Y. Caliskan and Paulo Tabuada
IEEE Transactions on Control of Network Systems, 1(1), 2014.
arXiv:1309.5422
Towards robustness for Cyber-Physical Systems
Paulo Tabuada, Sina Caliskan, Matthias Rungger, and Rupak Majumdar
IEEE Transactions on Automatic Control, 59(12), 2014. Special issue on control of CPS.
Towards Kron reduction for generalized electrical networks
Sina Y. Caliskan and Paulo Tabuada
Automatica, 50(10), 2014.
DOI:10.1016/j.automatica.2014.08.017
arXiv:1207:0563
Secure estimation and control for cyber-physical systems under adversarial attacks
Hamza Fawzi, Paulo Tabuada, and Suhas Diggavi
IEEE Transactions on Automatic Control, 59(6), 2014.
arXiv:1205:5073
Dominicus Paulus Borgers, Romain Postoyan, Adolfo Anta, Paulo Tabuada, Dragan Nesic, Maurice Heemels
DOI: 10.1109/TASE.2017.2760863
Best New Application Paper Awardee
SMC: Satisfiability Modulo Convex Programming
Yasser Shoukry, Pierluigi Nuzzo, Alberto Sangiovanni-Vincentelli, Sanjit Seshia, George Pappas, and Paulo Tabuada
Proceedings of IEEE, 106(9), 2018.
DOI: 10.1109/JPROC.2018.2849003
SMT-Based Observer Design for Cyber-Physical Systems under Sensor Attacks
Yasser Shoukry, Michelle Chong, Masashi Wakaiki, Pierluigi Nuzzo, Alberto Sangiovanni-Vincentelli, Sanjit A. Seshia, JoĂŁo P. Hespanha, and Paulo Tabuada
ACM Transactions on Cyber-Physical Systems, 2(1), 2018.
DOI: 10.1145/3078621
Periodic event-triggered control of nonlinear systems using over-approximation techniques
IEEE Transactions on Automation Science and Engineering, 15(3), 2018.
Self-Triggered Linear Quadratic Control
Tom Gommans, Duarte Antunes, Tijs Donkers, Paulo Tabuada, and Maurice Heemels
Automatica, 50(4), 2014.
DOI:10.1016/j.automatica.2014.02.030
System Architectures, Protocols and Algorithms for Aperiodic Wireless Control Systems
J. Araujo, M. Mazo, A. Anta, P. Tabuada, and K.H. Johansson
IEEE Transactions on Industrial Informatics, 10(1), 175-184, 2014.
A theory of robust omega-regular software synthesis
Rupak Majumdar, Elaine Render, and Paulo Tabuada
ACM Transactions on Embedded Computing Systems, 13(3), 2013.
arXiv:1108:3540
Minimum attention control for linear systems
M. C. F. Donkers, P. Tabuada, and W. P. M. H. Heemels
Discrete Event Dynamical Systems, 2012.
DOI: 10.1007/s10626-012-0155-x
Symbolic models for nonlinear control systems without stability assumptions
Majid Zamani, Giordano Pola, Manuel Mazo Jr., and Paulo Tabuada
IEEE Transactions on Automatic Control, 57(7), 1804-1809, 2012.
arXiv:1002.0822
Exploiting Isochrony in Self-Triggered Control
Adolfo Anta and Paulo Tabuada
IEEE Transactions on Automatic Control, 57(4), 950-962, 2012.
Backstepping design for incremental stability.
Majid Zamani and Paulo Tabuada
IEEE Transactions on Automatic Control, 56(9), 2184-2189, 2011.
arXiv:1005.4957
Symbolic approximate time-optimal control
Manuel Mazo Jr. and Paulo Tabuada
Systems and Control Letters, 60, 256-263, 2011.
DOI:10.1016/j.sysconle.2011.02.002
arXiv:1004.0763
To sample or not to sample: Self-triggered control for nonlinear systems
Adolfo Anta and Paulo Tabuada
IEEE Transactions on Automatic Control, 55(9), 2030-2042, 2010.
arXiv:0806.0709
An ISS self-triggered implementation of linear controllers.
Manuel Mazo Jr., Adolfo Anta, and Paulo Tabuada
Automatica, 46(8), 1310-1314, 2010.
DOI:10.1016/j.automatica.2010.05.009
arXiv:0906.3588
Symbolic models for nonlinear time-delay systems using approximate bisimulations
Giordano Pola, Pierdomenico Pepe, Maria D. Di Benedetto, and Paulo Tabuada
Systems and Control Letters, 59, 365-373, 2010.
DOI:10.1016/j.sysconle2010.04.001
arXiv:0903.0361
Approximately bisimilar symbolic models for incrementally stable switched systems
Antoine Girard, Giordano Pola and Paulo Tabuada
IEEE Transactions on Automatic Control, 55(1), 116-126, 2010.
arXiv:0807.5022
Symbolic models for nonlinear control systems: Alternating approximate bisimulations
Giordano Pola and Paulo Tabuada
SIAM Journal on Control and Optimization, 48(2), 719-733, 2009.
arXiv:0707.4205
Approximately bisimilar symbolic models for nonlinear control systems
Giordano Pola, Antoine Girard and Paulo Tabuada
Automatica, 44(10), 2508-2516, October 2008.
DOI:10.1016/j.automatica.2008.02.021
arXiv:0706.0246
An approximate simulation approach to symbolic control
Paulo Tabuada
IEEE Transactions on Automatic Control, 53(6), 1406-1418, July 2008.
Approximate reduction of dynamical systems
Paulo Tabuada, Aaron D. Ames, Agung Julius, and George J. Pappas
Systems and Control Letters, 57(7), 538-545, July 2008.
DOI:10.1016/j.sysconle.2007.12.005
arXiv:0707.3804
Controller synthesis for bisimulation equivalence
Paulo Tabuada
Systems and Control Letters, 57(6), 443-452, June 2008.
DOI:10.1016/j.sysconle.2007.11.005
arXiv:0706.0929
Event-triggered real-time scheduling of stabilizing control tasks
Paulo Tabuada
IEEE Transactions on Automatic Control, 52(9), 1680-1685, September 2007.
Symbolic models for control systems
Paulo Tabuada
Acta Informatica, 43(7), 477-500, February 2007.
Special issue on Hybrid Systems.
Linear Time Logic control of discrete-time linear systems
Paulo Tabuada and George J. Pappas
IEEE Transactions on Automatic Control, 51(12), 1862-1877, December 2006
Local factorization of trajectory lifting morphisms for single-input affine control systems
Paulo Tabuada
Systems and Control Letters, 55(9), 761-769, September 2006.
Symbolic control of linear systems based on symbolic subsystems
Paulo Tabuada
IEEE Transactions on Automatic Control, 51(6), 1003-1013, June 2006.
Special issue on Symbolic Methods for Complex Control Systems.
Bisimulation relations for dynamical, control and hybrid systems
Esfandiar Haghverdi, Paulo Tabuada and George J. Pappas
Theoretical Computer Science, 342(2-3), 229-261, 2005.
Motion Feasibility of Multi-Agent Formations
Paulo Tabuada, Pedro Lima and George J. Pappas.
IEEE Transactions on Robotics, 21(3), 387-392, 2005.
Quotients of Fully Nonlinear Control Systems
Paulo Tabuada and George J. Pappas.
SIAM Journal on Control and Optimization, 43(5), 1844-1866, 2005.
Hierarchical trajectory generation for a class of nonlinear systems
Paulo Tabuada and George J. Pappas.
Automatica, 41(4), 701-708, April 2005.
Bisimilar Control Affine Systems
Paulo Tabuada and George J. Pappas.
Systems and Control Letters, 52(1), 49-58, May 2004.
DOI:10.1016/j.sysconle.2003.09.013
Compositional Abstractions of Hybrid Control Systems
Paulo Tabuada, George J. Pappas and Pedro Lima.
Journal of Discrete Event Dynamical Systems, 14(2), 203-238, April 2004.
Abstractions of Hamiltonian Control Systems
Paulo Tabuada and George J. Pappas.
Automatica, 39(12), 2025-2033, December 2003.
From Nonlinear to Hamiltonian via Feedback
Paulo Tabuada and George J. Pappas.
IEEE Transactions on Automatic Control, 48(8), 1439-1442, August 2003.
Conference papers
A coding approach to localization using landmarks
Juan C. Rebanal, Yahya H. Ezzeldin, Christina Fragouli, and Paulo Tabuada
To appear in GLOBECOM 2020.
Why not both? Exact continuous and discrete optimization with submodularity
Jonathan Bunton and Paulo Tabuada
To appear in CDC 2020.
To beam or not to beam? Beamforming with submodularity-inspired group sparsity
Tzanis Anevlavis, Jonathan Bunton, Anjaly Parayil, Jemin George, and Paulo Tabuada
To appear in CDC 2020.
Privacy Against Adversarial Classification in Cyber-Physical Systems
Carlos Murguia and Paulo Tabuada
To appear in CDC 2020.
Persistent Connected Power Constrained Surveillance with Unmanned Aerial Vehicles
Pradipta Ghosh, Paulo Tabuada, Ramesh Govindan, and Gaurav S. Sukhatme
To appear in IROS, 2020.
Rapid Top-Down Synthesis of Large-Scale IoT Networks
Pradipta Ghosh, Jonathan Bunton, Dimitrios Pylorof, Marcos Vieira, Kevin Chan, Ramesh Govindan, Gaurav Sukhatme, Paulo Tabuada, and Gunjan Verma
Proceedings of the 29th International Conference on Computer Communications and Networks, 2020.arXiv: 2002.04244
From LTL to rLTL monitoring: improved monitorability through robust semantics
Corto Mascle, Daniel Neider, Maximilian Schwenger, Paulo Tabuada, Alexander Weinert, and Martin Zimmermann
HSCC 2020
A simple hierarchy for computing controlled invariant sets
Tzanis Anevlavis, Paulo Tabuada
HSCC 2020
Computing controlled invariant sets in two moves
Tzanis Anevlavis, Paulo Tabuada
CDC 2019
Symmetries and privacy in control over the cloud: uncertainty sets and side knowledge
Alimzhan Sultangazin, Paulo Tabuada
CDC 2019
Plausible deniability as a notion of privacy
Nima Monshizadeh, Paulo Tabuada
CDC 2019
When is the Secure State-Reconstruction Problem Hard?
Yanwen Mao, Aritra Mitra, Shreyas Sundaram, Paulo Tabuada
CDC 2019
Data-driven control for SISO feedback linearizable systems with unknown control gain.
Paulo Tabuada, Lucas Fraile
CDC 2019
Control Barrier Functions: Theory and Applications
Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, and Paulo Tabuada
European Control Conference, 2019.
Non-Local Linearization of Nonlinear Differential Equations via Polyflows
Raphael M. Jungers and Paulo Tabuada
American Control Conference, 2019.
Cyber-physical Systems Virtual Organization: Active Resources: Enabling Reproducibility, Improving Accessibility, and Lowering the Barrier to Entry
Stephen ARees, Tamas Kecskes, Patrik Meijer, Taylor T. Johnson, Katie Dey, Paulo Tabuada, and Marcus Lucas
10th ACM/IEEE International Conference on Cyber-Physical Systems, 2019.
Evrostos: the rLTL verifier
Tzanis Anevlavis, Daniel Neider, Matthew Phillipe, and Paulo Tabuada
22nd ACM International Conference on Hybrid Systems: Computation and Control, 2019.
Verifying rLTL formulas: now faster than ever before
Tzanis Anevlavis, Matthew Philippe, Hermann Daniel Neider, Paulo Tabuada
CDC 2018.
Towards the use of symmetries to ensure privacy in control over the cloud
Alimzhan Sultangazin and Paulo Tabuada
CDC 2018.
Distorting an Adversary's View in Cyber-Physical Systems
Gaurav Kumar Agarwal, Mohammed Karmoose, Suhas Diggavi, Christina Fragouli, Paulo Tabuada
CDC 2018.
Lazy Controller Synthesis using Three-valued Abstractions for Safety and Reachability Specifications
Omar Hussien and Paulo Tabuada
CDC 2018.
Deciding Stability of a Switched System Without Identifying it
Ayca Balkan, Raphaël M. Jungers, Joris Kenanian, Paulo Tabuada
CDC 2018.
Computing controlled invariant sets for hybrid systems with applications to model-predictive control
Benoît Legat, Paulo Tabuada, and Raphaël M. Jungers
ADHS, 2018.
Protecting the Privacy of Networked Multi-Agent Systems Controlled over the Cloud
Alimzhan Sultangazin and Suhas Diggavi, and Paulo Tabuada
27th International Conference on Computer Communication and Networks, 2018.
Will Distributed Computing Revolutionize Peace? The Emergence of Battlefield IoT
Tarek Abdelzaher, Nora Ayanian, Tamer Basar, Suhas Diggavi, Jana Diesner, Deepak Ganesan, Ramesh Govindan, Susmit Jha, Tancrede Lepoint, Ben Marlin, Klara Nahrstedt, David Nicol, Raj Rajkumar, Stephen Russell, Sanjit Seshia, Fei Sha, Prashant Shenoy, Mani Srivastava, Gaurav Sukhatme, Ananthram Swami, Paulo Tabuada, Don Towsley, Nitin Vaidya, and Venu Veeravalli
IEEE 38th International Conference on Distributed Computing Systems (ICDCS), 2018.
An SMT-based approach to secure state estimation under sensor and actuator attacks
Mehrdad Showkatbakhsh, Yasser Shoukry, Robert H. Chen, Suhas Diggavi, and Paulo Tabuada
CDC 2017.
Data-driven control for feedback linearizable single-input systems
Paulo Tabuada, Wen-Loong Ma, Jessy Grizzle, Aaron D. Ames
CDC 2017.
Linear temporal logic motion planning for teams of underactuated robots using satisfiability modulo convex programming
Yasser Shoukry, Pierluigi Nuzzo, Ayca Balkan, Indranil Saha, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, George J. Pappas, Paulo Tabuada
CDC 2017.
Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds
Xiangru Xu, Thomas Waters, Daniel Pickem, Paul Glotfelter, Magnus Egerstedt, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames
IEEE Conference on Control Technology and Applications (CCTA), 2017
Closed-Form Controlled Invariant Sets for Pedestrian Avoidance
Yasser Shoukry, Paulo Tabuada, Stephanie Tsuei, Mark Milam, Jessy W. Grizzle, and Aaron D. Ames
Proceedings of the American Control Conference, 2017.
SMC: Satisfiability Modulo Convex Optimization
Yasser Shoukry, Pierluigi Nuzzo, Alberto Sangiovanni-Vincentelli, Sanjit A. Seshia, George J. Pappas, Paulo Tabuada
Proceedings of the International Conference on Hybrid Systems: Computation and Control, 2017.
PrOLoc: Resilient Localization with Private Observers Using Partial Homomorphic Encryption
A. Alanwar, Y. Shoukry, S. Chakraborty, P. Martin, P. Tabuada, and M. Srivastava
Proceedings of the International Conference on Information Processing on Sensor Networks, 2017.
Secure system identification
Mehrdad Showkatbakhsh, Paulo Tabuada, and Suhas Diggavi
54th Annual Allerton Conference on Communication, Control, and Computing (Allerton), 2016.
Privacy-Aware Quadratic Optimization Using Partially Homomorphic Encryption
Yasser Shoukry, Konstantinos Gatsis, Amr Alanwar, George J. Pappas, Sanjit A. Seshia, Mani Srivastava, Paulo Tabuada
CDC 2016
Scalable Motion Planning Using Lazy SMT-Based Solving
Yasser Shoukry, Pierluigi Nuzzo, Indranil Saha, Alberto Sangiovanni-Vincentelli, Sanjit A. Seshia, George J. Pappas, Paulo Tabuada
CDC 2016
Decomposing Controller Synthesis for Safety Specifications
Eric Dallal, Paulo Tabuada
CDC 2016
Synthesis of Safety Controllers Robust to Unmodeled Intermittent Disturbances
Eric Dallal, Paulo Tabuada, Daniel Neider
CDC 2016
System Identification in the Presence of Adversarial Outputs
Mehrdad Showkatbakhsh, Paulo Tabuada, Suhas Diggavi
CDC 2016
UNDERMINER: A framework for automatically identifying non-convergent behaviors in black box system models
Ayca Balkan, Paulo Tabuada, Jyotirmoy Deshmukh, Xiaoqing Jin, James Kapinski
EMSOFT 2016. Best Paper Awardee.
SMT-based observer design for cyber-physical systems under sensor attacks
Y. Shoukry, M. Chong, M. Wakaiki, P. Nuzzo, A. L. Sangiovanni-Vincentelli, S. A. Seshia, J. P. Hespanha, and P. Tabuada
ICCPS, 2016. Best Paper Awardee.
Self-triggered controllers and hard real-time guarantees
A. Aminifar, P. Tabuada, P. Eles, and Z. Peng.
DATE 2016.
Comparing asynchronous l-complete approximations and quotient based abstractions
Anne-Kathrin Schmuck, Paulo Tabuada, and Joerg Raisch
CDC 2015.
Uses and abuses of the swing equation model
Sina Caliskan and Paulo Tabuada
CDC 2015.
On compositional symbolic controller synthesis inspired by small-gain theorems
Eric Dallal and Paulo Tabuada
CDC 2015.
Attack resilient state estimation in the presence of noise
Miroslav Pajic, Paulo Tabuada, Insup Lee, and George Pappas
CDC 2015.
Secure State Reconstruction in Differentially Flat Systems Under Sensor Attacks Using Satisfiability Modulo Theory Solving
Yasser Shoukry, Pierluigi Nuzzo, Nicola Bezzo, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Paulo Tabuada
CDC 2015.
Controller Synthesis for Mode-Target Games
Ayca Balkan, Moshe Vardi, and Paulo Tabuada
ADHS 2015
DOI:10.1016/j.ifacol.2015.11.198
arXiv:1504.07702
Robustness of Control Barrier Functions for Safety Critical Control
X. Xu, P. Tabuada, J. W. Grizzle, and A. D. Ames
ADHS, 2015.
DOI:10.1016/j.ifacol.2015.11.152
Secure State Estimation: Optimal Guarantees against Sensor Attacks in the Presence of Noise
Shaunak Mishra, Yasser Shoukry, Nikhil Karamchandani, Suhas Diggavi, Paulo Tabuada
ISIT 2015
arXiv:1504.05566
Secure State Estimation For Cyber Physical Systems Under Sensor Attacks: A Satisfiability Modulo Theory Approach
Yasser Shoukry, Pierluigi Nuzzo, Alberto Puggelli, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, Paulo Tabuada
ACC 2015
arXiv:1412.4324
Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars
A. Mehra, A., M. Wen-Loong, F. Berg, P. Tabuada, J.W. Grizzle, and A.D. Ames
ACC, 2015.
Simulation-Guided Contraction Analysis
Ayca Balkan, Jyotirmoy Deshmukh, James Kapinski and Paulo Tabuada
1st Indian Control Conference, ICC 15', 2015. Best Student Paper Awardee.
First Steps toward Formal Controller Synthesis for Bipedal Robots
Aaron Ames, Paulo Tabuada, Bastian Schuermann, Wen-Loong Ma, Shishir Kolathaya, Matthias Rungger and Jessy Grizzle
HSCC 2015.
Control Barrier Function Based Quadratic Programs with Application to Adaptive Cruise Control
A. D. Ames, J. Grizzle, and P. Tabuada
53rd IEEE Conference on Decision and Control, 2014.
Event-Triggered Projected Luenberger Observer for Linear Systems under Sparse Sensor Attacks (I)
Y. Shoukry and P. Tabuada
53rd IEEE Conference on Decision and Control, 2014.
Secure State Estimation and Control Using Multiple (insecure) Observers
S. Mishra, N. Karamchandani, P. Tabuada, and S. Diggavi
53rd IEEE Conference on Decision and Control, 2014.
Discounting the past in Robust Finite-State Systems
M. Rungger and P. Tabuada
53rd IEEE Conference on Decision and Control, 2014.
Preliminary Results on Correct-By-Construction Control Software Synthesis for Adaptive Cruise Control
P. Nilsson, O. Hussien, Y. Chen, A. Balkan, M. Rungger, A. D. Ames, J. Grizzle, N. Ozay, H. Peng, and P. Tabuada
53rd IEEE Conference on Decision and Control, 2014.
Robustness of Attack-resilient State Estimators
Miroslav Pajic, James Weimer, Nicola Bezzo, Paulo Tabuada, Oleg Sokolsky, Insup Lee and George J. Pappas
ICCPS 2014. Best Paper Awardee.
Abstracting and Refining Robustness for Cyber-Physical Systems
Matthias Rungger and Paulo Tabuada
HSCC 2014.
Periodic Event-Triggered Control for Nonlinear Systems
R. Postoyan, A. Anta, W.P.M.H. Heemels, P. Tabuada, and D. Nesic
52nd IEEE Conference on Decision and Control, 2013.
Towards a Compositional Analysis of Multi-Machine Power Systems Transient Stability
S. Y. Caliskan and P. Tabuada
52nd IEEE Conference on Decision and Control, 2013.
A Symbolic Approach to the Design of Robust Cyber-Physical Systems
M. Rungger and P. Tabuada
52nd IEEE Conference on Decision and Control, 2013.
Noninvasive spoofing attacks for Anti-Lock Braking systems
Y. Shoukry, P. Martin, P. Tabuada, and M. Srivastava
Workshop on Cryptographic Hardware and Embedded Systems 2013 (CHES 2013).
Minimax control for cyber-physical systems under network packet scheduling attacks
Y. Shoukry, J. Araujo, P. Tabuada, M. Srivastava, K. H. Johansson
Proceedings of the 2nd ACM international conference on High confidence networked systems (HiCoNS '13)
Specification-guided controller synthesis for linear systems and safe linear-time temporal logic
M. Rungger, M. Mazo Jr., and P. Tabuada
Hybrid Systems: Computation and Control 2013 (HSCC'03).
An introduction to event-triggered and self-triggered control
W.P.M.H. Heemels, Karl H. Johansson, and Paulo Tabuada
51st IEEE Conference on Decision and Control, December, 2012.
Kron reduction of power networks with lossy and dynamic transmission lines
Sina Caliskan and Paulo Tabuada
51st IEEE Conference on Decision and Control, December, 2012.
Dynamic programming formulation of periodic event-triggered control: performance guarantees and co-design
Duarte Antunes, W.P.M.H. Heemels, Paulo Tabuada
51st IEEE Conference on Decision and Control, December, 2012.
Scaling up controller synthesis for linear systems and safety specifications
Matthias Rungger, Manuel Mazo Jr., and Paulo Tabuada
51st IEEE Conference on Decision and Control, December, 2012.
Security for control systems under sensor and actuator attacks
Hamza Fawzi, Paulo Tabuada, and Suhas Diggavi
51st IEEE Conference on Decision and Control, December, 2012.
An improved self-triggered implementation for linear controllers
Jose Araujo, Hamza Fawzi, Manuel Mazo Jr., Paulo Tabuada, and Karl H. Johansson
3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems, 2012.
doi: 10.3182/20120914-2-US-4030.00067
Input-Output robustness for discrete systems
Paulo Tabuada, Ayca Balkan, Sina Yamac Caliskan, Yasser Shoukry, and Rupak Majumdar
International Conference on Embedded Software (EMSOFT), 2012.
Secure state-estimation for dynamical systems under active adversaries
Hamza Fawzi, Paulo Tabuada, and Suhas Diggavi
49th Annual Allerton Conference on Communication, Control, and Computing, 2011.
On the minimum attention control problem for linear systems: A linear programing approach
M.C.F. Donkers, P. Tabuada, and W.P.M.H. Heemels
50th IEEE Conference on Decision and Control, December, 2011.
arXiv:1108:2783
A unifying Lyapunov-based framework for the event-triggered control of nonlinear systems
Romain Postoyan, Adolfo Anta, Dragan Nesic, and Paulo Tabuada
50th IEEE Conference on Decision and Control, December, 2011.
Event-triggered and self-triggered stabilization of networked control systems
Romain Postoyan, Paulo Tabuada, Dragan Nesic, and Adolfo Anta
50th IEEE Conference on Decision and Control, December, 2011.
Self-triggered control for industrial wireless sensor and actuator networks
Jose Araujo, Adolfo Anta, Manuel Mazo Jr., Joao Faria, Aitor Hernandez, Paulo Tabuada, and Karl Johansson
REALWIN 2011, CPSWeek 2011.
Robust Discrete Synthesis Against Unspecified Disturbances
Rupak Majumdar, Elaine Render, and Paulo Tabuada
Proceedings of the 14th International Conference on Hybrid Systems: Computation and Control 2011.
Pessoa 2.0: A Controller Synthesis Tool for Cyber-Physical Systems
Pritam Roy, Paulo Tabuada, and Rupak Majumdar.
Proceedings of the 14th International Conference on Hybrid Systems: Computation and Control 2011.
Dynamic scheduling and control-quality optimization of self-triggered control applications
Soheil Samii, Petru Eles, Zebo Peng, Paulo Tabuada and Anton Cervin
Proceedings of the 31st IEEE Real-Time Systems Symposium 2010.
PDF file
Automatic verification of control systems implementations.
Adolfo Anta, Rupak Majumdar, Indranil Saha, and Paulo Tabuada
Proceedings of the 2010 International Conference on Embedded Software. Best Paper Awardee.
PDF file
Symbolic models for unstable nonlinear control systems
Majid Zamani, Giordano Pola, and Paulo Tabuada
Proceedings of the 2010 American Control Conference, June 2010.
PDF file
Approximate time-optimal control via approximate alternating simulations
Manuel Mazo Jr. and Paulo Tabuada
Proceedings of the 2010 American Control Conference, June 2010.
PDF file
Towards decentralized event-triggered implementations of centralized control laws
Manuel Mazo Jr. and Paulo Tabuada
CONET 2010, April 2010.
PDF file
PESSOA: towards the automatic synthesis of correct-by-design control software
Manuel Mazo Jr., Anna Davitian, and Paulo Tabuada
International Conference on Hybrid Systems: Computation and Control (HSCC), Work in progress, April 2010.
PDF file
On the benefits of relaxing the periodicity assumption for networked control systems over CAN
Adolfo Anta and Paulo Tabuada
Proceedings of the 30th IEEE Real-Time Systems Symposium, December 2009.
PDF file
Proceedings of the 49th IEEE Conference on Decision and Control, 2010.
Towards backstepping design for incremental stability
Majid Zamani and Paulo Tabuada
Proceedings of the 49th IEEE Conference on Decision and Control, 2010.
PDF file
On the minimum attention and anytime attention problems for nonlinear systems
Adolfo Anta and Paulo Tabuada
Isochronous manifolds in self-triggered control
Adolfo Anta and Paulo Tabuada
Proceedings of the 48th IEEE Conference on Decision and Control, December 2009.
PDF file
Input-to-state stability of self-triggered control systems
Manuel Mazo Jr. and Paulo Tabuada
Proceedings of the 48th IEEE Conference on Decision and Control, December 2009.
PDF file
A symbolic model approach to the digital control of time-delay systems
G. Pola, P. Pepe, M. Domenica Di Benedetto, and P. Tabuada
Proceedings of the 48th IEEE Conference on Decision and Control, December 2009.
On Self-Triggered Control for Linear Systems: Guarantees and Complexity
Manuel Mazo Jr., Adolfo Anta and Paulo Tabuada
Proceedings of the 10th European Control Conference, August 2009.
PDF file
Space-time scaling laws for self-triggered control
Adolfo Anta and Paulo Tabuada
Proceedings of the 47th IEEE Conference on Decision and Control, December 2008.
PDF file
Event-triggered and Self-triggered control over sensor/actuator network
Manuel Mazo Jr. and Paulo Tabuada
Proceedings of the 47th IEEE Conference on Decision and Control, December 2008.
PDF file
Symbolic models for nonlinear control systems affected by disturbances
Giordano Pola and Paulo Tabuada
Proceedings of the 47th Conference on Decision and Control, December 2008.
Self-triggered stabilization of homogeneous control systems
Adolfo Anta and Paulo Tabuada
Proceedings of the 2008 American Control Conference, June 2008.
PDF file
On the benefits of relaxing the periodicity assumption for control tasks
Adolfo Anta and Paulo Tabuada
Proceedings of the 14th IEEE Real-Time and Embedded Technology and Applications Symposium, Work-In-Progress track, April 2008.
PDF file
Symbolic models for nonlinear control systems using approximate bisimulations
Giordano Pola, Antoine Girard and Paulo Tabuada
Proceedings of the 46th IEEE Conference on Decision and Control, 2007.
Symbolic models for linear control systems with disturbances
Giordano Pola and Paulo Tabuada
Proceedings of the 46th IEEE Conference on Decision and Control, 2007.
Approximate reduction of dynamical systems
Paulo Tabuada, Aaron Ames, Agung Julius and George Pappas
Proceedings of the 45th IEEE Conference on Decision and Control, 2006.
Preliminary results on state-triggered scheduling of stabilizing control tasks
Paulo Tabuada and Xiaofeng Wang
Proceedings of the 45th IEEE Conference on Decision and Control, 2006.
Symbolic sub-systems and symbolic control of linear systems
Paulo Tabuada.
Proceeding of the 44th IEEE Conference on Decision and Control, Seville, Spain, 2005.
On the factorization of trajectory lifting maps
Paulo Tabuada.
Proceeding of the 44th IEEE Conference on Decision and Control, Seville, Spain, 2005.
Book Chapters
A Coding Theoretic View of Secure State Reconstruction
Suhas Diggavi and Paulo Tabuada
Modeling and Design of Secure Internet of Things
Wiley-IEEE Press, 2020.
DOI: 10.1002/9781119593386.ch15
Symbolic Synthesis for Cyber-Physical Systems
Matthias Rungger, Antoine Girard, and Paulo Tabuada
Cyber-Physical Systems, SEI Series in Software Engineering. Addison Wesley, 2017.
Noninvasive spoofing attacks for Anti-Lock Braking systems
Y. Shoukry, P. Martin, P. Tabuada, and M. Srivastava
Workshop on Cryptographic Hardware and Embedded Systems 2013 (CHES 2013)
Volume 8086 of Lecture Notes in Computer Science, Springer, 2013.
DOI:10.1007/978-3-642-40349-1_4
Self-triggered control over wireless sensor and actuator networks
Jose Araujo, Adolfo Anta, Manuel Mazo Jr., Joao Faria, Aitor Hernandez, Paulo Tabuada, and Karl Johansson
DCOSS'11, Lecture Notes in Computer Science, Springer, 2011.
DOI:10.1109/DCOSS.2011.5982135
PESSOA: A tool for embedded controller synthesis
Manuel Mazo Jr., Anna Davitian, and Paulo Tabuada
22nd International Conference on Computer Aided Verification
Volume 6174 of Lecture Notes in Computer Science, Springer, July 2010.
Approximately bisimilar symbolic models for incrementally stable switched systems
Antoine Girard, Giordano Pola and Paulo Tabuada
Hybrid Systems: Computation and Control 2008
Volume 4981 of Lecture Notes in Computer Science, Springer 2008.
Approximate simulation relations and finite abstractions of quantized control systems
Paulo Tabuada
Hybrid Systems: Computation and Control
Volume 4416 of Lecture Notes in Computer Science, Springer, April 2007
On simulations and bisimulations of general flow systems
Jennifer Davoren and Paulo Tabuada
Hybrid Systems: Computation and Control
Volume 4416 of Lecture Notes in Computer Science, Springer, April 2007
On the stability of Zeno equilibria
Aaron Ames, Paulo Tabuada and Shankar Sastry
Hybrid Systems: Computation and Control
Volume 3927 of Lecture Notes in Computer Science, Springer, March 2006
Sensor/actuator abstractions for symbolic embedded control design
Paulo Tabuada
Hybrid Systems: Computation and Control
Volume 3414 of Lecture Notes in Computer Science, Springer, March 2005
Open maps, alternating simulations and control synthesis
Paulo Tabuada
15th International Conference on Concurrency Theory
Volume 3170 of Lecture Notes in Computer Science, Springer, September 2004
Model Checking LTL over Controllable Linear Systems is Decidable
Paulo Tabuada and George J. Pappas
Hybrid Systems: Computation and Control
Volume 2623 of Lecture Notes in Computer Science, Springer-Verlag, April 2003
Bisimulation Relations for Dynamical and Control Systems
Esfandiar Haghverdi, Paulo Tabuada and George J. Pappas
Rick Blute and Peter Selinger eds.
Volume 69 of Electronic Notes in Theoretical Computer Science, Elsevier
Composing Abstractions of Hybrid Systems
Paulo Tabuada, George J. Pappas and Pedro Lima
Hybrid Systems: Computaion and Control
Volume 2289 of Lecture Notes in Computer Science, Springer-Verlag, March 2002
Hybrid abstractions that preserve timed languages
Paulo Tabuada and George J. Pappas
Hybrid Systems: Computation and Control
Volume 2034 of Lecture Notes in Computer Science, Springer-Verlag, March 2001
Satellite Attitude Control Problem
R. Wisniewski, A. Astolfi, T. Bak, M. Blanke, P. Lima, K. Spindler, P. Tabuada and P. Tavares
Chapter in Control of Complex Systems (COSY), Springer-Verlag, Berlin, 2000
Presentations
Tutorial session on event-triggered control at CDC 2012. Slides by Tabuada, Heemels, and Johansson.
Technical Reports
Robust Decentralized Learning for Data Poisoning Attacks
Yanwen Mao, Deepesh Data, Suhas Diggavi, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2021-11, 2021.
PDF file
Decentralized Resilient State-Tracking
Yanwen Mao and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2021-09, 2021.
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Exploiting the Experts: Learning to control unknown SISO feedback linearizable systems from expert demonstrations
Alimzhan Sultangazin, Lucas Fraile, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2021-08, 2021.
PDF file
Watch and learn: Learning to control feedback linearizable systems from expert demonstrations
Alimzhan Sultangazin, Lucas Fraile, Luigi Pannocchi, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2021-03, 2021.
PDF file
Training deep residual networks for uniform approximation guarantees
Matteo Marchi, Bahman Gharesifard, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2020-11, 2020.
PDF file
Why not both? Exact continuous and discrete optimization with submodularity
Jonathan Bunton, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2020-05, 2020.
Computing controlled invariant sets in two moves
Tzanis Anevlavis, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2019-02, 2019.
PDF file
Symmetries and privacy in control over the cloud: uncertainty sets and side knowledge
Alimzhan Sultangazin, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2019-01, 2019.
PDF file
Towards the use of symmetries to ensure privacy in control over the cloud
Alimzhan Sultangazin, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2018-01, 2018.
PDF file
An SMT-based Approach to Secure State Estimation Under Sensor and Actuator Attacks
Joris Kenanian, Ayca Balkan, Raphael M. Jungers, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2017-02, 2017.
PDF file
Data Driven Stability Analysis of Black-box Switched Linear Systems
Joris Kenanian, Ayca Balkan, Raphael M. Jungers, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2017-01, 2017.
System Identification in the Presence of Adversarial Outputs
Mehrdad Showkatbakhsh, Paulo Tabuada and Suhas Diggavi
Technical Report UCLA-CyPhyLab-2016-01, 2016.
Secure State Estimation Under Sensor Attacks: A Satisfiability Modulo Theory Approach
Yasser Shoukry, Pierluigi Nuzzo, Alberto Puggelli, Alberto L. Sangiovanni-Vincentelli, Sanjit A. Seshia, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2014-01, 2014.
PESSOA: A tool for embedded control software synthesis
Manuel Mazo Jr., Anna Davitian, and Paulo Tabuada
Technical Report UCLA-CyPhyLab-2010-01, 2010.
PDF file