-
Neural Configuration-Space Barriers for Manipulation Planning and Control
K. Long, K. M. B. Lee, N. Raicevic, N. Attasseri, M. Leok and N. Atanasov
IEEE Transactions on Automation Science and Engineering (TASE), Vol. 23, pp. 10173-10185, 2026.
[bib]
[doi]
[arXiv]
@article{Long_NCSB_TASE26,
author = {Kehan Long and Ki Myung Brian Lee and Nikola Raicevic and Niyas Attasseri and Melvin Leok and Nikolay Atanasov},
title = {{Neural Configuration-Space Barriers for Manipulation Planning and Control}},
journal = {IEEE Transactions on Automation Science and Engineering (TASE)},
year = {2026},
volume = {23},
pages = {10173-10185},
doi = {https://doi.org/10.1109/TASE.2026.3695092}
}
-
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
K. Long, Y. Yi, Z. Dai, S. Herbert, J. Cortés and N. Atanasov
The International Journal of Robotics Research (IJRR), Vol. 45(2), pp. 328-351, 2026.
[bib]
[doi]
[arXiv]
@article{Long_DROSafeNavigation_IJRR26,
author = {Kehan Long and Yinzhuang Yi and Zhirui Dai and Sylvia Herbert and Jorge Cortés and Nikolay Atanasov},
title = {{Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments}},
journal = {The International Journal of Robotics Research (IJRR)},
year = {2026},
volume = {45},
number = {2},
pages = {328-351},
doi = {https://doi.org/10.1177/02783649251352000}
}
-
Distributionally Robust Policy and Lyapunov-Certificate Learning
K. Long, J. Cortés and N. Atanasov
IEEE Open Journal of Control Systems (OJ-CSYS), Vol. 3, pp. 375-388, 2024.
[bib]
[doi]
[arXiv]
@article{Long_DROCLFControl_OJCSYS24,
author = {Kehan Long and Jorge Cortés and Nikolay Atanasov},
title = {{Distributionally Robust Policy and Lyapunov-Certificate Learning}},
journal = {IEEE Open Journal of Control Systems (OJ-CSYS)},
year = {2024},
volume = {3},
pages = {375-388},
doi = {https://doi.org/10.1109/OJCSYS.2024.3440051}
}
-
Feasibility Analysis and Regularity Characterization of Distributionally Robust Safe Stabilizing Controllers
P. Mestres, K. Long, N. Atanasov and J. Cortés
IEEE Control Systems Letters (L-CSS), Vol. 8, pp. 91-96, 2024.
[bib]
[doi]
[arXiv]
@article{Mestres_DROFeasibility_LCSS24,
author = {Pol Mestres and Kehan Long and Nikolay Atanasov and Jorge Cortés},
title = {{Feasibility Analysis and Regularity Characterization of Distributionally Robust Safe Stabilizing Controllers}},
journal = {IEEE Control Systems Letters (L-CSS)},
year = {2024},
volume = {8},
pages = {91-96},
doi = {https://doi.org/10.1109/LCSYS.2023.3348688}
}
-
Safe Control Synthesis With Uncertain Dynamics and Constraints
K. Long, V. Dhiman, M. Leok, J. Cortés and N. Atanasov
IEEE Robotics and Automation Letters (RA-L), Vol. 7(3), pp. 7295-7302, 2022.
[bib]
[doi]
[arXiv]
@article{Long_SafeControl_RAL22,
author = {Long, Kehan and Dhiman, Vikas and Leok, Melvin and Cortés, Jorge and Atanasov, Nikolay},
title = {{Safe Control Synthesis With Uncertain Dynamics and Constraints}},
journal = {IEEE Robotics and Automation Letters (RA-L)},
year = {2022},
volume = {7},
number = {3},
pages = {7295-7302},
doi = {https://doi.org/10.1109/LRA.2022.3182544}
}
-
Learning Barrier Functions with Memory for Robust Safe Navigation
K. Long, C. Qian, J. Cortés and N. Atanasov
IEEE Robotics and Automation Letters (RA-L), Vol. 6(3), pp. 4931-4938, 2021.
[bib]
[doi]
[arXiv]
@article{Long_LearningCBF_RAL21,
author = {Kehan Long and Cheng Qian and Jorge Cortés and Nikolay Atanasov},
title = {{Learning Barrier Functions with Memory for Robust Safe Navigation}},
journal = {IEEE Robotics and Automation Letters (RA-L)},
year = {2021},
volume = {6},
number = {3},
pages = {4931-4938},
doi = {https://doi.org/10.1109/LRA.2021.3070250}
}