Publications
Papers from the ACRE Lab, newest first. Our Google Scholar is probably more up-to-date.
2026
[1]
M. Mirtaba and M. H. Cohen, “High Order Tuners for Adaptive Safety of Robotic Systems,” in Proceedings of the IEEE Conference on Decision and Control, 2026.
[2]
M. H. Cohen, P. Ong, P. Mestres, and A. D. Ames, “Safety Filtering with an Infinite Number of Constraints,” in Proceedings of the IEEE Conference on Decision and Control, 2026.
[3]
H. Wang et al., “Unified Overview of Safety Certificate Functions: Techniques from Hamilton–Jacobi Reachability and Control Barrier Functions,” in Proceedings of the IEEE Conference on Decision and Control, 2026.
[4]
S. S. Mousavi, M. H. Cohen, P. Mestres, and A. D. Ames, “Structure, Feasibility, and Explicit Safety Filters for Linear Systems,” arXiv Preprint arXiv:2604.04235, 2026.
[5]
M. Mirtaba and M. H. Cohen, “Vector Field Following for Quadrotors via Reduced Attitude Representations with Applications to Safety-Critical Control,” arXiv Preprint arXiv:2610.06629, 2026.
[6]
B. Werner, S. A. Esteban, M. D. Sa, M. H. Cohen, and A. D. Ames, “HALO: Hybrid Auto-Encoded Locomotion with Learned Latent Dynamics, Poincaré Maps, and Regions of Attraction,” in Proceedings of the 8th Annual Learning for Dynamics & Control Conference, 2026.
[7]
M. H. Cohen et al., “Control Barrier Functions for Flight-Critical Systems in Aerospace Applications,” in Proceedings of the American Control Conference, 2026, pp. 49–66.
[8]
M. H. Cohen, P. Ong, and A. D. Ames, “Input-to-State Safe Backstepping: Robust Safety-Critical Control with Unmatched Uncertainties,” in Proceedings of the American Control Conference, 2026, pp. 551–558.
[9]
A. Singletary, M. H. Cohen, T. G. Molnar, and A. D. Ames, “Safety Guardrails in the Sky: Realizing Control Barrier Functions on the VISTA F-16 Jet,” arXiv Preprint arXiv:2603.27912, 2026.
2025
[10]
S. A. Esteban, M. H. Cohen, A. B. Ghansah, and A. D. Ames, “A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics,” in Proceedings of the IEEE Conference on Decision and Control, 2025, pp. 3065–3072.
[11]
M. H. Cohen, E. Lavretsky, and A. D. Ames, “Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems,” in Proceedings of the IEEE Conference on Decision and Control, 2025, pp. 771–778.
[12]
G. Bahati, R. K. Cosner, M. H. Cohen, R. M. Bena, and A. D. Ames, “Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree,” in Proceedings of the IEEE Conference on Decision and Control, 2025, pp. 8208–8215.
[13]
P. Ong, M. H. Cohen, T. G. Molnar, and A. D. Ames, “On the Properties of Optimal-Decay Control Barrier Functions,” in Proceedings of the IEEE Conference on Decision and Control, 2025, pp. 7375–7382.
[14]
W. D. Compton, M. H. Cohen, and A. D. Ames, “Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions,” in Proceedings of the 7th Annual Learning for Dynamics & Control Conference, 2025.
[15]
M. H. Cohen, N. Csomay-Shanklin, W. D. Compton, T. G. Molnar, and A. D. Ames, “Safety-Critical Controller Synthesis with Reduced-Order Models,” in Proceedings of the American Control Conference, 2025, pp. 5216–5221.
[16]
L. Gacsi, M. H. Cohen, and T. G. Molnar, “Activated Backstepping with Control Barrier Functions for the Safe Navigation of Automated Vehicles,” IEEE Control Systems Letters, vol. 9, pp. 721–726, 2025.
2024
[17]
P. Ong, M. H. Cohen, T. G. Molnar, and A. D. Ames, “Rectified Control Barrier Functions for High-Order Safety Constraints,” IEEE Control Systems Letters, vol. 8, pp. 2949–2954, 2024.
[18]
M. M. Jr., W. D. Compton, M. H. Cohen, and A. D. Ames, “A Contract Theory for Layered Control Architectures,” arXiv Preprint arXiv:2409.14902, 2024.
[19]
M. H. Cohen, R. K. Cosner, and A. D. Ames, “Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems,” IEEE Control Systems Letters, vol. 8, pp. 2229–2234, 2024.
[20]
M. H. Cohen, M. Mann, K. Leahy, and C. Belta, “Uncertainty Quantification for Recursive Estimation in Adaptive Safety-Critical Control,” in Proceedings of the American Control Conference, 2024, pp. 3885–3890.
[21]
M. H. Cohen, T. G. Molnar, and A. D. Ames, “Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced Order Models,” Annual Reviews in Control, vol. 57, p. 100947, 2024.
2023
[22]
M. H. Cohen, P. Ong, G. Bahati, and A. D. Ames, “Characterizing Smooth Safety Filters via the Implicit Function Theorem,” IEEE Control Systems Letters, vol. 7, pp. 3890–3895, 2023.
[23]
M. H. Cohen and C. Belta, “Modular Adaptive Safety-Critical Control,” in Proceedings of the American Control Conference, 2023, pp. 2969–2974.
[24]
M. H. Cohen and C. Belta, Adaptive and Learning-Based Control of Safety-Critical Systems. Springer Nature, 2023.
[25]
M. H. Cohen, Z. Serlin, K. Leahy, and C. Belta, “Temporal Logic Guided Safe Model-Based Reinforcement Learning: A Hybrid Systems Approach,” Nonlinear Analysis: Hybrid Systems, vol. 47, p. 101295, 2023.
[26]
M. H. Cohen and C. Belta, “Safe Exploration in Model-Based Reinforcement Learning Using Control Barrier Functions,” Automatica, vol. 147, p. 110684, 2023.
2022
[27]
M. H. Cohen, C. Belta, and R. Tron, “Robust Control Barrier Functions for Nonlinear Control Systems with Uncertainty: A Duality-Based Approach,” in Proceedings of the IEEE Conference on Decision and Control, 2022, pp. 174–179.
[28]
M. H. Cohen and C. Belta, “High Order Robust Adaptive Control Barrier Functions and Exponentially Stabilizing Adaptive Control Lyapunov Functions,” in Proceedings of the American Control Conference, 2022, pp. 2233–2238.
2021
[29]
M. H. Cohen and C. Belta, “Model-Based Reinforcement Learning for Approximate Optimal Control with Temporal Logic Specifications,” in Proc. Int. Conf. Hybrid Syst. Comp. Control, 2021.
2020
[30]
M. H. Cohen and C. Belta, “Approximate Optimal Control for Safety-Critical Systems with Control Barrier Functions,” in Proceedings of the IEEE Conference on Decision and Control, 2020, pp. 2062–2067.