-
Certifying Stability of Reinforcement Learning Policies using Generalized Lyapunov Functions
K. Long, J. Cortés and N. Atanasov
Conference on Neural Information Processing Systems (NeurIPS), 2025.
[bib]
[doi]
[arXiv]
@inproceedings{Long_GLF_NeurIPS25,
author = {Long, Kehan and Cortés, Jorge and Atanasov, Nikolay},
title = {Certifying Stability of Reinforcement Learning Policies using Generalized {L}yapunov Functions},
booktitle = {Conference on Neural Information Processing Systems (NeurIPS)},
year = {2025},
url = {https://arxiv.org/abs/2505.10947},
doi = {https://openreview.net/forum?id=N67DlqK5C4}
}
-
Neural Configuration Distance Function for Continuum Robot Control
K. Long, H. Parwana, G. Fainekos, B. Hoxha, H. Okamoto and N. Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
[bib]
[doi]
[arXiv]
@inproceedings{Long_ContinuumCDF_IROS25,
author = {Kehan Long and Hardik Parwana and Georgios Fainekos and Bardh Hoxha and Hideki Okamoto and Nikolay Atanasov},
title = {Neural Configuration Distance Function for Continuum Robot Control},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2025},
pages = {358-364},
url = {https://arxiv.org/abs/2409.13865},
doi = {https://doi.org/10.1109/IROS60139.2025.11246945}
}
-
Stabilization of Nonlinear Systems through Control Barrier Functions
P. Mestres, K. Long, M. Leok, N. Atanasov and J. Cortés
IEEE Conference on Decision and Control (CDC), 2024.
[bib]
[doi]
[arXiv]
@inproceedings{Mestres_CBFStabilization_CDC24,
author={Mestres, Pol and Long, Kehan and Leok, Melvin and Atanasov, Nikolay and Cortés, Jorge},
booktitle={2024 IEEE 63rd Conference on Decision and Control (CDC)},
title={Stabilization of Nonlinear Systems through Control Barrier Functions},
year={2024},
volume={},
number={},
pages={8858-8863}
}
-
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
K. Long, K. Tran, M. Leok and N. Atanasov
American Control Conference (ACC), 2024.
[bib]
[doi]
[arXiv]
@inproceedings{long2024safe_polygonal,
title={Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments},
author={Long, Kehan and Tran, Khoa and Leok, Melvin and Atanasov, Nikolay},
booktitle={2024 American Control Conference (ACC)},
pages={312--317},
year={2024},
organization={IEEE}
}
-
Distributionally Robust Lyapunov Function Search Under Uncertainty
K. Long, Y. Yi, J. Cortés and N. Atanasov
Learning for Dynamics and Control (L4DC), pp. 864-877, 2023.
[bib]
[doi]
[arXiv]
@inproceedings{Long_LFSearch_L4DC23,
author = {Kehan Long and Yinzhuang Yi and Jorge Cortés and Nikolay Atanasov},
title = {{Distributionally Robust Lyapunov Function Search Under Uncertainty}},
booktitle = {Learning for Dynamics and Control (L4DC)},
year = {2023},
pages = {864-877},
doi = {https://proceedings.mlr.press/v211/long23a.html}
}
-
Safe and Stable Control Synthesis for Uncertain System Models via Distributionally Robust Optimization
K. Long*, Y. Yi*, J. Cortés and N. Atanasov
American Control Conference (ACC), pp. 4651-4658, 2023.
[bib]
[doi]
[arXiv]
@inproceedings{LongYi_DRCCP_ACC23,
author = {Kehan Long* and Yinzhuang Yi* and Jorge Cortés and Nikolay Atanasov},
title = {{Safe and Stable Control Synthesis for Uncertain System Models via Distributionally Robust Optimization}},
booktitle = {American Control Conference (ACC)},
year = {2023},
pages = {4651-4658},
doi = {https://doi.org/10.23919/ACC55779.2023.10156525}
}