Abraham P. Vinod

Abraham P. Vinod
Abraham's Quick Links

  • Biography

    Abraham's Ph.D. research developed scalable algorithms for providing safety guarantees for stochastic, control-constrained, dynamical systems. His research work has been applied in motion planning under uncertainty, spacecraft rendezvous planning, and human-automation interactions. His current research interests lie in the intersection of optimization, control, and learning. Abraham won the Best Student Paper Award at the 2017 ACM Hybrid Systems: Computation and Control Conference, was a finalist for the Best Paper Award in the 2018 ACM Hybrid Systems: Computation and Control Conference, and won the best undergraduate student research project award at the Indian Institute of Technology, Madras.

  • Recent News & Events

    •  NEWS    MERL researchers present 9 papers at ACC 2024
      Date: July 10, 2024 - July 12, 2024
      Where: Toronto, Canada
      MERL Contacts: Ankush Chakrabarty; Vedang M. Deshpande; Stefano Di Cairano; Christopher R. Laughman; Arvind Raghunathan; Abraham P. Vinod; Yebin Wang; Avishai Weiss
      Research Areas: Artificial Intelligence, Control, Dynamical Systems, Machine Learning, Multi-Physical Modeling, Optimization, Robotics
      Brief
      • MERL researchers presented 9 papers at the recently concluded American Control Conference (ACC) 2024 in Toronto, Canada. The papers covered a wide range of topics including data-driven spatial monitoring using heterogenous robots, aircraft approach management near airports, computation fluid dynamics-based motion planning for drones facing winds, trajectory planning for coordinated monitoring using a team of drones and a ground carrier vehicle, ensemble Kalman smoothing-based model predictive control for motion planning for autonomous vehicles, system identification for Lithium-ion batteries, physics-constrained deep Kalman filters for vapor compression systems, switched reference governors for constrained systems, and distributed road-map monitoring using onboard sensors.

        As a sponsor of the conference, MERL maintained a booth for open discussions with researchers and students, and hosted a special session to discuss highlights of MERL research and work philosophy.

        In addition, Abraham Vinod served as a panelist at the Student Networking Event at the conference. The student networking event provides an opportunity for all interested students to network with professionals working in industry, academia, and national laboratories during a structured event, and encourages their continued participation as the future leaders in the field.
    •  
    •  TALK    [MERL Seminar Series 2024] Chuchu Fan presents talk titled Neural Certificates and LLMs in Large-Scale Autonomy Design
      Date & Time: Wednesday, May 29, 2024; 12:00 PM
      Speaker: Chuchu Fan, MIT
      MERL Host: Abraham P. Vinod
      Research Areas: Artificial Intelligence, Control, Machine Learning
      Abstract
      • Learning-enabled control systems have demonstrated impressive empirical performance on challenging control problems in robotics. However, this performance often arrives with the trade-off of diminished transparency and the absence of guarantees regarding the safety and stability of the learned controllers. In recent years, new techniques have emerged to provide these guarantees by learning certificates alongside control policies — these certificates provide concise, data-driven proofs that guarantee the safety and stability of the learned control system. These methods not only allow the user to verify the safety of a learned controller but also provide supervision during training, allowing safety and stability requirements to influence the training process itself. In this talk, we present two exciting updates on neural certificates. In the first work, we explore the use of graph neural networks to learn collision-avoidance certificates that can generalize to unseen and very crowded environments. The second work presents a novel reinforcement learning approach that can produce certificate functions with the policies while addressing the instability issues in the optimization process. Finally, if time permits, I will also talk about my group's recent work using LLM and domain-specific task and motion planners to allow natural language as input for robot planning.
    •  

    See All News & Events for Abraham

  • Internships with Abraham

    • CA0095: Internship - Infrastructure monitoring using quadrotors

      MERL seeks graduate students passionate about robotics to collaborate and develop a framework for infrastructure monitoring using quadrotors. The work will involve multi-domain research, including multi-agent planning and control, SLAM, and perception. The methods will be implemented and evaluated on an actual robotic platform (Crazyflies). The results of the internship are expected to be published in top-tier conferences and/or journals. The internship will take place during summer 2025 (exact dates are flexible) with an expected duration of 3-4 months.

      Please use your cover letter to explain how you meet the following requirements, preferably with links to papers, code repositories, etc., indicating your proficiency.

      Required Specific Experience

      • Current enrollment in a PhD program in Mechanical, Electrical Engineering, Computer Science, or related programs, with a focus on Robotics and/or Control Systems
      • Experience in some/all of these topics: multi-agent motion planning, constrained control, SLAM, computer vision
      • Experience with ROS2 and validation of algorithms on robotic platforms, preferably quadrotors
      • Strong programming skills in Python and/or C/C++

      Desired Specific Experience

      • Experience with Crazyflie quadrotors and the Crazyswarm library
      • Experience with the SLAM toolbox in ROS2
      • Experience in convex optimization and model predictive control
      • Experience with computer vision

    See All Internships at MERL

  • MERL Publications

    •  Vinod, A.P., Safaoui, S., Summers, T., Yoshikawa, N., Di Cairano, S., "Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3433229, Vol. 32, No. 6, pp. 2492-2499, January 2025.
      BibTeX TR2024-136 PDF
      • @article{Vinod2025jan,
      • author = {Vinod, Abraham P. and Safaoui, Sleiman and Summers, Tyler and Yoshikawa, Nobuyuki and Di Cairano, Stefano}},
      • title = {Decentralized, Safe, Multi-agent Motion Planning for Drones Under Uncertainty via Filtered Reinforcement Learning},
      • journal = {IEEE Transactions on Control Systems Technology},
      • year = 2025,
      • volume = 32,
      • number = 6,
      • pages = {2492--2499},
      • month = jan,
      • doi = {10.1109/TCST.2024.3433229},
      • url = {https://www.merl.com/publications/TR2024-136}
      • }
    •  Li, S.H.Q., Vinod, A.P., "Markov Potential Game with Final-time Reach-Avoid Objective", arXiv, October 2024.
      BibTeX arXiv
      • @article{Li2024oct2,
      • author = {Li, Sarah H. Q. and Vinod, Abraham P.}},
      • title = {Markov Potential Game with Final-time Reach-Avoid Objective},
      • journal = {arXiv},
      • year = 2024,
      • month = oct,
      • url = {https://arxiv.org/abs/2410.17690}
      • }
    •  Vinod, A.P., "pycvxset: A Python package for convex set manipulation", arXiv, October 2024.
      BibTeX arXiv
      • @article{Vinod2024oct,
      • author = {Vinod, Abraham P.}},
      • title = {pycvxset: A Python package for convex set manipulation},
      • journal = {arXiv},
      • year = 2024,
      • month = oct,
      • url = {https://arxiv.org/abs/2410.11430}
      • }
    •  Safaoui, S., Vinod, A.P., Chakrabarty, A., Quirynen, R., Yoshikawa, N., Di Cairano, S., "Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning", IEEE Transactions on Robotics, DOI: 10.1109/​TRO.2024.3387010, Vol. 40, pp. 2529-2542, July 2024.
      BibTeX TR2024-048 PDF Video
      • @article{Safaoui2024jul,
      • author = {Safaoui, Sleiman and Vinod, Abraham P. and Chakrabarty, Ankush and Quirynen, Rien and Yoshikawa, Nobuyuki and Di Cairano, Stefano},
      • title = {Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning},
      • journal = {IEEE Transactions on Robotics},
      • year = 2024,
      • volume = 40,
      • pages = {2529--2542},
      • month = jul,
      • doi = {10.1109/TRO.2024.3387010},
      • url = {https://www.merl.com/publications/TR2024-048}
      • }
    •  Huang, Y., Greiff, M., Vinod, A.P., Di Cairano, S., "Leveraging Computational Fluid Dynamics in UAV Motion Planning", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644753, July 2024, pp. 375-381.
      BibTeX TR2024-050 PDF Video
      • @inproceedings{Huang2024jul,
      • author = {Huang, Yunshen and Greiff, Marcus and Vinod, Abraham P. and Di Cairano, Stefano}},
      • title = {Leveraging Computational Fluid Dynamics in UAV Motion Planning},
      • booktitle = {American Control Conference (ACC)},
      • year = 2024,
      • pages = {375--381},
      • month = jul,
      • publisher = {IEEE},
      • doi = {10.23919/ACC60939.2024.10644753},
      • url = {https://www.merl.com/publications/TR2024-050}
      • }
    See All MERL Publications for Abraham

  • Other Publications

    •  Franck Djeumou, Abraham P Vinod, Eric Goubault, Sylvie Putot and Ufuk Topcu, "On-the-fly control of unknown smooth systems from limited data", 2021 American Control Conference (ACC), 2021, pp. 3656-3663.
      BibTeX
      • @Inproceedings{djeumou2021fly,
      • author = {Djeumou, Franck and Vinod, Abraham P and Goubault, Eric and Putot, Sylvie and Topcu, Ufuk},
      • title = {On-the-fly control of unknown smooth systems from limited data},
      • booktitle = {2021 American Control Conference (ACC)},
      • year = 2021,
      • pages = {3656--3663},
      • organization = {IEEE}
      • }
    •  Joseph D Gleason, Abraham P Vinod and Meeko MK Oishi, "Lagrangian approximations for stochastic reachability of a target tube", Automatica, Vol. 128, pp. 109546, 2021.
      BibTeX
      • @Article{gleason2021lagrangian,
      • author = {Gleason, Joseph D and Vinod, Abraham P and Oishi, Meeko MK},
      • title = {Lagrangian approximations for stochastic reachability of a target tube},
      • journal = {Automatica},
      • year = 2021,
      • volume = 128,
      • pages = 109546,
      • publisher = {Pergamon}
      • }
    •  Shawn Priore, Abraham Vinod, Vignesh Sivaramakrishnan, Christopher Petersen and Meeko Oishi, "Stochastic multi-satellite maneuvering with constraints in an elliptical orbit", 2021 American Control Conference (ACC), 2021, pp. 4261-4268.
      BibTeX
      • @Inproceedings{priore2021stochastic,
      • author = {Priore, Shawn and Vinod, Abraham and Sivaramakrishnan, Vignesh and Petersen, Christopher and Oishi, Meeko},
      • title = {Stochastic multi-satellite maneuvering with constraints in an elliptical orbit},
      • booktitle = {2021 American Control Conference (ACC)},
      • year = 2021,
      • pages = {4261--4268},
      • organization = {IEEE}
      • }
    •  Yagiz Savas, Abolfazl Hashemi, Abraham P Vinod, Brian M Sadler and Ufuk Topcu, "Physical-Layer Security via Distributed Beamforming in the Presence of Adversaries with Unknown Locations", ICASSP 2021-2021 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2021, pp. 4685-4689.
      BibTeX
      • @Inproceedings{savas2021physical,
      • author = {Savas, Yagiz and Hashemi, Abolfazl and Vinod, Abraham P and Sadler, Brian M and Topcu, Ufuk},
      • title = {Physical-Layer Security via Distributed Beamforming in the Presence of Adversaries with Unknown Locations},
      • booktitle = {ICASSP 2021-2021 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)},
      • year = 2021,
      • pages = {4685--4689},
      • organization = {IEEE}
      • }
    •  Abraham P. Vinod and Meeko M. K. Oishi, "Probabilistic Occupancy via Forward Stochastic Reachability for Markov Jump Affine Systems", IEEE Transactions on Automatic Control, Vol. 66, No. 7, pp. 3068-3083, 2021.
      BibTeX
      • @Article{vinod2020probabilistic,
      • author = {Vinod, Abraham P. and Oishi, Meeko M. K.},
      • title = {Probabilistic Occupancy via Forward Stochastic Reachability for Markov Jump Affine Systems},
      • journal = {IEEE Transactions on Automatic Control},
      • year = 2021,
      • volume = 66,
      • number = 7,
      • pages = {3068--3083}
      • }
    •  Abraham P Vinod, Adam J Thorpe, Philip A Olaniyi, Tyler H Summers and Meeko MK Oishi, "Sensor Selection for Dynamics-Driven User-Interface Design", IEEE Transactions on Control Systems Technology, 2021.
      BibTeX
      • @Article{vinod2021sensor,
      • author = {Vinod, Abraham P and Thorpe, Adam J and Olaniyi, Philip A and Summers, Tyler H and Oishi, Meeko MK},
      • title = {Sensor Selection for Dynamics-Driven User-Interface Design},
      • journal = {IEEE Transactions on Control Systems Technology},
      • year = 2021,
      • publisher = {IEEE}
      • }
    •  Abraham P Vinod and Meeko MK Oishi, "Stochastic reachability of a target tube: Theory and computation", Automatica, Vol. 125, pp. 109458, 2021.
      BibTeX
      • @Article{vinod2021stochastic,
      • author = {Vinod, Abraham P and Oishi, Meeko MK},
      • title = {Stochastic reachability of a target tube: Theory and computation},
      • journal = {Automatica},
      • year = 2021,
      • volume = 125,
      • pages = 109458,
      • publisher = {Pergamon}
      • }
    •  Alessandro Abate, Henk Blom, Nathalie Cauchi, Joanna Delicaris, Arnd Hartmanns, Mahmoud Khaled, Abolfazl Lavaei, Carina Pilch, Anne Remke, Stefan Schupp and others, "ARCH-COMP20 Category Report: Stochastic Models", EPiC Series in Computing, Vol. 74, pp. 76-106, 2020.
      BibTeX
      • @Article{abate2020arch,
      • author = {Abate, Alessandro and Blom, Henk and Cauchi, Nathalie and Delicaris, Joanna and Hartmanns, Arnd and Khaled, Mahmoud and Lavaei, Abolfazl and Pilch, Carina and Remke, Anne and Schupp, Stefan and others},
      • title = {ARCH-COMP20 Category Report: Stochastic Models},
      • journal = {EPiC Series in Computing},
      • year = 2020,
      • volume = 74,
      • pages = {76--106},
      • publisher = {EasyChair}
      • }
    •  Suda Bharadwaj, Abraham P Vinod, Rayna Dimitrova and Ufuk Topcu, "Near-Optimal Reactive Synthesis Incorporating Runtime Information", 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 10342-10348.
      BibTeX
      • @Inproceedings{bharadwaj2020near,
      • author = {Bharadwaj, Suda and Vinod, Abraham P and Dimitrova, Rayna and Topcu, Ufuk},
      • title = {Near-Optimal Reactive Synthesis Incorporating Runtime Information},
      • booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2020,
      • pages = {10342--10348},
      • organization = {IEEE}
      • }
    •  Abraham P Vinod, Arie Israel and Ufuk Topcu, "Convexified contextual optimization for on-the-fly control of smooth systems", 2020 American Control Conference (ACC), 2020, pp. 2004-2011.
      BibTeX
      • @Inproceedings{vinod2020convexified,
      • author = {Vinod, Abraham P and Israel, Arie and Topcu, Ufuk},
      • title = {Convexified contextual optimization for on-the-fly control of smooth systems},
      • booktitle = {2020 American Control Conference (ACC)},
      • year = 2020,
      • pages = {2004--2011},
      • organization = {IEEE}
      • }
    •  Alessandro Abate, Henk Blom, Nathalie Cauchi, Kurt Degiorgio, Martin Fränzle, Ernst Moritz Hahn, Sofie Haesaert, Hao Ma, Meeko Oishi, Carina Pilch and others, "ARCH-COMP19 Category Report: Stochastic Modelling.", ARCH@ CPSIoTWeek, 2019, pp. 62-102.
      BibTeX
      • @Inproceedings{abate2019arch,
      • author = {Abate, Alessandro and Blom, Henk and Cauchi, Nathalie and Degiorgio, Kurt and Fr{\"a}nzle, Martin and Hahn, Ernst Moritz and Haesaert, Sofie and Ma, Hao and Oishi, Meeko and Pilch, Carina and others},
      • title = {ARCH-COMP19 Category Report: Stochastic Modelling.},
      • booktitle = {ARCH@ CPSIoTWeek},
      • year = 2019,
      • pages = {62--102}
      • }
    •  Joseph D Gleason, Abraham P Vinod and Meeko MK Oishi, "The Maximal Hitting-Time Stochastic Reachability Problem", 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, pp. 7266-7272.
      BibTeX
      • @Inproceedings{gleason2019maximal,
      • author = {Gleason, Joseph D and Vinod, Abraham P and Oishi, Meeko MK},
      • title = {The Maximal Hitting-Time Stochastic Reachability Problem},
      • booktitle = {2019 IEEE 58th Conference on Decision and Control (CDC)},
      • year = 2019,
      • pages = {7266--7272},
      • organization = {IEEE}
      • }
    •  Milad Khaledyan, Abraham P Vinod, Meeko Oishi and John A Richards, "Optimal Coverage Control and Stochastic Multi-Target Tracking", 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, pp. 2467-2472.
      BibTeX
      • @Inproceedings{khaledyan2019optimal,
      • author = {Khaledyan, Milad and Vinod, Abraham P and Oishi, Meeko and Richards, John A},
      • title = {Optimal Coverage Control and Stochastic Multi-Target Tracking},
      • booktitle = {2019 IEEE 58th Conference on Decision and Control (CDC)},
      • year = 2019,
      • pages = {2467--2472},
      • organization = {IEEE}
      • }
    •  Hossein Sartipizadeh, Abraham P Vinod, Behçet Açikmeşe and Meeko Oishi, "Voronoi Partition-based Scenario Reduction for Fast Sampling-based Stochastic Reachability Computation of Linear Systems", 2019 American Control Conference (ACC), 2019, pp. 37-44.
      BibTeX
      • @Inproceedings{sartipizadeh2019voronoi,
      • author = {Sartipizadeh, Hossein and Vinod, Abraham P and A{\c{c}}ikme{\c{s}}e, Beh{\c{c}}et and Oishi, Meeko},
      • title = {Voronoi Partition-based Scenario Reduction for Fast Sampling-based Stochastic Reachability Computation of Linear Systems},
      • booktitle = {2019 American Control Conference (ACC)},
      • year = 2019,
      • pages = {37--44},
      • organization = {IEEE}
      • }
    •  Vignesh Sivaramakrishnan, Omanshu Thapliyal, Abraham Vinod, Meeko Oishi and Inseok Hwang, "Predicting Mode Confusion Through Mixed Integer Linear Programming", 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, pp. 2442-2448.
      BibTeX
      • @Inproceedings{sivaramakrishnan2019predicting,
      • author = {Sivaramakrishnan, Vignesh and Thapliyal, Omanshu and Vinod, Abraham and Oishi, Meeko and Hwang, Inseok},
      • title = {Predicting Mode Confusion Through Mixed Integer Linear Programming},
      • booktitle = {2019 IEEE 58th Conference on Decision and Control (CDC)},
      • year = 2019,
      • pages = {2442--2448},
      • organization = {IEEE}
      • }
    •  Abraham P Vinod and Meeko MK Oishi, "Affine controller synthesis for stochastic reachability via difference of convex programming", 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, pp. 7273-7280.
      BibTeX
      • @Inproceedings{vinod2019affine,
      • author = {Vinod, Abraham P and Oishi, Meeko MK},
      • title = {Affine controller synthesis for stochastic reachability via difference of convex programming},
      • booktitle = {2019 IEEE 58th Conference on Decision and Control (CDC)},
      • year = 2019,
      • pages = {7273--7280},
      • organization = {IEEE}
      • }
    •  Abraham P Vinod, Vignesh Sivaramakrishnan and Meeko MK Oishi, "Piecewise-Affine Approximation-Based Stochastic Optimal Control with Gaussian Joint Chance Constraints", 2019 American Control Conference (ACC), 2019, pp. 2942-2949.
      BibTeX
      • @Inproceedings{vinod2019piecewise,
      • author = {Vinod, Abraham P and Sivaramakrishnan, Vignesh and Oishi, Meeko MK},
      • title = {Piecewise-Affine Approximation-Based Stochastic Optimal Control with Gaussian Joint Chance Constraints},
      • booktitle = {2019 American Control Conference (ACC)},
      • year = 2019,
      • pages = {2942--2949},
      • organization = {IEEE}
      • }
    •  Abraham P Vinod, Vignesh Sivaramakrishnan and Meeko MK Oishi, "Sampling-free enforcement of non-gaussian chance constraints via fourier transforms", Proceedings of the Fifth International Workshop on Symbolic-Numeric methods for Reasoning about CPS and IoT, 2019, pp. 9-11.
      BibTeX
      • @Inproceedings{vinod2019sampling,
      • author = {Vinod, Abraham P and Sivaramakrishnan, Vignesh and Oishi, Meeko MK},
      • title = {Sampling-free enforcement of non-gaussian chance constraints via fourier transforms},
      • booktitle = {Proceedings of the Fifth International Workshop on Symbolic-Numeric methods for Reasoning about CPS and IoT},
      • year = 2019,
      • pages = {9--11},
      • organization = {ACM}
      • }
    •  Abraham P Vinod, Joseph D Gleason and Meeko MK Oishi, "SReachTools: a MATLAB stochastic reachability toolbox", Proceedings of the 22nd ACM International Conference on Hybrid Systems: Computation and Control, 2019, pp. 33-38.
      BibTeX
      • @Inproceedings{vinod2019sreachtools,
      • author = {Vinod, Abraham P and Gleason, Joseph D and Oishi, Meeko MK},
      • title = {SReachTools: a MATLAB stochastic reachability toolbox},
      • booktitle = {Proceedings of the 22nd ACM International Conference on Hybrid Systems: Computation and Control},
      • year = 2019,
      • pages = {33--38},
      • organization = {ACM}
      • }
    •  Alessandro Abate, Henk Blom, Nathalie Cauchi, Sofie Haesaert, Arnd Hartmanns, Kendra Lesser, Meeko Oishi, Vignesh Sivaramakrishnan, Sadegh Soudjani, Cristian-Ioan Vasile and others, "ARCH-COMP18 Category Report: Stochastic Modelling", ARCH18. 5th International Workshop on Applied Verification of Continuous and Hybrid Systems, ARCH@ ADHS 2018, Oxford, UK, July 13, 2018, 2018, pp. 71-103.
      BibTeX
      • @Inproceedings{abate2018arch,
      • author = {Abate, Alessandro and Blom, Henk and Cauchi, Nathalie and Haesaert, Sofie and Hartmanns, Arnd and Lesser, Kendra and Oishi, Meeko and Sivaramakrishnan, Vignesh and Soudjani, Sadegh and Vasile, Cristian-Ioan and others},
      • title = {ARCH-COMP18 Category Report: Stochastic Modelling},
      • booktitle = {ARCH18. 5th International Workshop on Applied Verification of Continuous and Hybrid Systems, ARCH@ ADHS 2018, Oxford, UK, July 13, 2018},
      • year = 2018,
      • pages = {71--103}
      • }
    •  Abraham P Vinod, Baisravan HomChaudhuri, Christoph Hintz, Anup Parikh, Stephen P Buerger, Meeko MK Oishi, Greg Brunson, Shakeeb Ahmad and Rafael Fierro, "Multiple Pursuer-Based Intercept via Forward Stochastic Reachability", 2018 Annual American Control Conference (ACC), 2018, pp. 1559-1566.
      BibTeX
      • @Inproceedings{vinod2018multiple,
      • author = {Vinod, Abraham P and HomChaudhuri, Baisravan and Hintz, Christoph and Parikh, Anup and Buerger, Stephen P and Oishi, Meeko MK and Brunson, Greg and Ahmad, Shakeeb and Fierro, Rafael},
      • title = {Multiple Pursuer-Based Intercept via Forward Stochastic Reachability},
      • booktitle = {2018 Annual American Control Conference (ACC)},
      • year = 2018,
      • pages = {1559--1566},
      • organization = {IEEE}
      • }
    •  Abraham P Vinod and Meeko MK Oishi, "Optimal trade-off analysis for efficiency and safety in the spacecraft rendezvous and docking problem", IFAC-PapersOnLine, Vol. 51, No. 12, pp. 136-141, 2018.
      BibTeX
      • @Article{vinod2018optimal,
      • author = {Vinod, Abraham P and Oishi, Meeko MK},
      • title = {Optimal trade-off analysis for efficiency and safety in the spacecraft rendezvous and docking problem},
      • journal = {IFAC-PapersOnLine},
      • year = 2018,
      • volume = 51,
      • number = 12,
      • pages = {136--141},
      • publisher = {Elsevier}
      • }
    •  Abraham P Vinod and Meeko MK Oishi, "Scalable Underapproximative Verification of Stochastic LTI Systems using Convexity and Compactness", Proceedings of the 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week), 2018, pp. 1-10.
      BibTeX
      • @Inproceedings{vinod2018scalable,
      • author = {Vinod, Abraham P and Oishi, Meeko MK},
      • title = {Scalable Underapproximative Verification of Stochastic LTI Systems using Convexity and Compactness},
      • booktitle = {Proceedings of the 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week)},
      • year = 2018,
      • pages = {1--10},
      • organization = {ACM}
      • }
    •  Abraham P Vinod, Sean Rice, Yuanqi Mao, Meeko MK Oishi and Behçet Açıkmeşe, "Stochastic Motion Planning Using Successive Convexification and Probabilistic Occupancy Functions", 2018 IEEE Conference on Decision and Control (CDC), 2018, pp. 4425-4432.
      BibTeX
      • @Inproceedings{vinod2018stochastic,
      • author = {Vinod, Abraham P and Rice, Sean and Mao, Yuanqi and Oishi, Meeko MK and A{\c{c}}{\i}kme{\c{s}}e, Beh{\c{c}}et},
      • title = {Stochastic Motion Planning Using Successive Convexification and Probabilistic Occupancy Functions},
      • booktitle = {2018 IEEE Conference on Decision and Control (CDC)},
      • year = 2018,
      • pages = {4425--4432},
      • organization = {IEEE}
      • }
    •  Hao-Tien Lewis Chiang, Baisravan HomChaudhuri, Abraham P Vinod, Meeko Oishi and Lydia Tapia, "Dynamic risk tolerance: Motion planning by balancing short-term and long-term stochastic dynamic predictions", 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, pp. 3762-3769.
      BibTeX
      • @Inproceedings{chiang2017dynamic,
      • author = {Chiang, Hao-Tien Lewis and HomChaudhuri, Baisravan and Vinod, Abraham P and Oishi, Meeko and Tapia, Lydia},
      • title = {Dynamic risk tolerance: Motion planning by balancing short-term and long-term stochastic dynamic predictions},
      • booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2017,
      • pages = {3762--3769},
      • organization = {IEEE}
      • }
    •  Joseph D Gleason, Abraham P Vinod and Meeko MK Oishi, "Underapproximation of reach-avoid sets for discrete-time stochastic systems via Lagrangian methods", 2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2017, pp. 4283-4290.
      BibTeX
      • @Inproceedings{gleason2017underapproximation,
      • author = {Gleason, Joseph D and Vinod, Abraham P and Oishi, Meeko MK},
      • title = {Underapproximation of reach-avoid sets for discrete-time stochastic systems via Lagrangian methods},
      • booktitle = {2017 IEEE 56th Annual Conference on Decision and Control (CDC)},
      • year = 2017,
      • pages = {4283--4290},
      • organization = {IEEE}
      • }
    •  Baisravan HomChaudhuri, Abraham P Vinod and Meeko MK Oishi, "Computation of forward stochastic reach sets: Application to stochastic, dynamic obstacle avoidance", American Control Conference (ACC), 2017, 2017, pp. 4404-4411.
      BibTeX
      • @Inproceedings{homchaudhuri2017computation,
      • author = {HomChaudhuri, Baisravan and Vinod, Abraham P and Oishi, Meeko MK},
      • title = {Computation of forward stochastic reach sets: Application to stochastic, dynamic obstacle avoidance},
      • booktitle = {American Control Conference (ACC), 2017},
      • year = 2017,
      • pages = {4404--4411},
      • organization = {IEEE}
      • }
    •  Abraham P Vinod, Baisravan Homchaudhuri and Meeko MK Oishi, "Forward stochastic reachability analysis for uncontrolled linear systems using Fourier Transforms", Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control, 2017, pp. 35-44.
      BibTeX
      • @Inproceedings{vinod2017forward,
      • author = {Vinod, Abraham P and Homchaudhuri, Baisravan and Oishi, Meeko MK},
      • title = {Forward stochastic reachability analysis for uncontrolled linear systems using Fourier Transforms},
      • booktitle = {Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control},
      • year = 2017,
      • pages = {35--44},
      • organization = {ACM}
      • }
    •  Abraham P Vinod and Meeko MK Oishi, "Scalable Underapproximation for the Stochastic Reach-Avoid Problem for High-Dimensional LTI Systems Using Fourier Transforms", IEEE control systems letters, Vol. 1, No. 2, pp. 316-321, 2017.
      BibTeX
      • @Article{vinod2017scalable,
      • author = {Vinod, Abraham P and Oishi, Meeko MK},
      • title = {Scalable Underapproximation for the Stochastic Reach-Avoid Problem for High-Dimensional LTI Systems Using Fourier Transforms},
      • journal = {IEEE control systems letters},
      • year = 2017,
      • volume = 1,
      • number = 2,
      • pages = {316--321},
      • publisher = {IEEE}
      • }
    •  Joseph Gleason, Abraham P Vinod, Meeko MK Oishi and R Scott Erwin, "Viable set approximation for linear-Gaussian systems with unknown, bounded variance", 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, pp. 7049-7055.
      BibTeX
      • @Inproceedings{gleason2016viable,
      • author = {Gleason, Joseph and Vinod, Abraham P and Oishi, Meeko MK and Erwin, R Scott},
      • title = {Viable set approximation for linear-Gaussian systems with unknown, bounded variance},
      • booktitle = {2016 IEEE 55th Conference on Decision and Control (CDC)},
      • year = 2016,
      • pages = {7049--7055},
      • organization = {IEEE}
      • }
    •  Abraham P. Vinod, Tyler H. Summers and Meeko M. K. Oishi, "User-interface design for MIMO LTI human-automation systems through sensor placement", American Control Conference (ACC), 2016.
      BibTeX
      • @Inproceedings{p2016user,
      • author = {P. Vinod, Abraham and H. Summers, Tyler and Oishi, Meeko M. K.},
      • title = {User-interface design for MIMO LTI human-automation systems through sensor placement},
      • booktitle = {American Control Conference (ACC)},
      • year = 2016,
      • organization = {IEEE}
      • }
    •  Abraham P Vinod, Yuqing Tang, Meeko MK Oishi, Katia Sycara, Christian Lebiere and Michael Lewis, "Validation of cognitive models for collaborative hybrid systems with discrete human input", 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 3339-3346.
      BibTeX
      • @Inproceedings{vinod2016validation,
      • author = {Vinod, Abraham P and Tang, Yuqing and Oishi, Meeko MK and Sycara, Katia and Lebiere, Christian and Lewis, Michael},
      • title = {Validation of cognitive models for collaborative hybrid systems with discrete human input},
      • booktitle = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      • year = 2016,
      • pages = {3339--3346},
      • organization = {IEEE}
      • }
    •  Abraham P. Vinod, Arun D. Mahindrakar, Sandipan Bandyopadhyay and Vijay Muralidharan, "A Deterministic Attitude Estimation Using a Single Vector Information and Rate Gyros", IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 5, pp. 1-7, 2015.
      BibTeX
      • @Article{vinod2015deterministic,
      • author = {Vinod, Abraham P. and Mahindrakar, Arun D. and Bandyopadhyay, Sandipan and Muralidharan, Vijay},
      • title = {A Deterministic Attitude Estimation Using a Single Vector Information and Rate Gyros},
      • journal = {IEEE/ASME Transactions on Mechatronics},
      • year = 2015,
      • volume = 20,
      • number = 5,
      • pages = {1--7},
      • publisher = {IEEE}
      • }

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  • MERL Issued Patents

    • Title: "System and Method for Indirect Data-Driven Control Under Constraints"
      Inventors: Vinod, Abraham; Mamakoukas, Giorgos; Di Cairano, Stefano
      Patent No.: 12,124,241
      Issue Date: Oct 22, 2024
    See All Patents for MERL