publications

2023

1. Maximum-entropy multi-agent dynamic games: Forward and inverse solutions

   Negar Mehr, Mingyu Wang , Maulik Bhatt , and Mac Schwager

   IEEE Transactions on Robotics, 2023

   Bib

   @article{mehr2023maximum,
     title = {Maximum-entropy multi-agent dynamic games: Forward and inverse solutions},
     author = {Mehr, Negar and Wang, Mingyu and Bhatt, Maulik and Schwager, Mac},
     journal = {IEEE Transactions on Robotics},
     year = {2023},
     publisher = {IEEE}
   }

2. Submodularity of optimal sensor placement for traffic networks

   Ruolin Li , Negar Mehr, and Roberto Horowitz

   Transportation research part B: methodological, 2023

   Bib

   @article{li2023submodularity,
     title = {Submodularity of optimal sensor placement for traffic networks},
     author = {Li, Ruolin and Mehr, Negar and Horowitz, Roberto},
     journal = {Transportation research part B: methodological},
     volume = {171},
     pages = {29--43},
     year = {2023},
     publisher = {Elsevier},
   }

3. Efficient Constrained Multi-Agent Trajectory Optimization Using Dynamic Potential Games

   Maulik Bhatt , Yixuan Jia , and Negar Mehr

   In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2023

   Bib

   @inproceedings{bhatt2023efficient,
     title = {Efficient Constrained Multi-Agent Trajectory Optimization Using Dynamic Potential Games},
     author = {Bhatt, Maulik and Jia, Yixuan and Mehr, Negar},
     booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {7303--7310},
     year = {2023},
     organization = {IEEE},
   }

4. RAPID: Autonomous Multi-Agent Racing using Constrained Potential Dynamic Games

   Yixuan Jia , Maulik Bhatt , and Negar Mehr

   In 2023 European Control Conference (ECC) , 2023

   Bib

   @inproceedings{10178387,
     author = {Jia, Yixuan and Bhatt, Maulik and Mehr, Negar},
     booktitle = {2023 European Control Conference (ECC)},
     title = {RAPID: Autonomous Multi-Agent Racing using Constrained Potential Dynamic Games},
     year = {2023},
     volume = {},
     number = {},
     pages = {1-8},
     keywords = {Heuristic algorithms;Optimal control;Europe;Games;Nash equilibrium;Real-time systems;Hardware},
     doi = {10.23919/ECC57647.2023.10178387},
   }

5. Distributed Potential iLQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions

   Zach Williams , Jushan Chen , and Negar Mehr

   In 2023 IEEE International Conference on Robotics and Automation (ICRA) , 2023

   Bib

   @inproceedings{10161176,
     author = {Williams, Zach and Chen, Jushan and Mehr, Negar},
     booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
     title = {Distributed Potential iLQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions},
     year = {2023},
     volume = {},
     number = {},
     pages = {01-07},
     keywords = {Trajectory planning;Heuristic algorithms;Scalability;Decentralized control;Optimal control;Games;Hardware},
     doi = {10.1109/ICRA48891.2023.10161176},
   }

6. Learning to Influence Vehicles’ Routing in Mixed-Autonomy Networks by Dynamically Controlling the Headway of Autonomous Cars

   Xiaoyu Ma , and Negar Mehr

   In 2023 IEEE International Conference on Robotics and Automation (ICRA) , 2023

   Bib

   @inproceedings{10160717,
     author = {Ma, Xiaoyu and Mehr, Negar},
     booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
     title = {Learning to Influence Vehicles' Routing in Mixed-Autonomy Networks by Dynamically Controlling the Headway of Autonomous Cars},
     year = {2023},
     volume = {},
     number = {},
     pages = {3510-3516},
     keywords = {Image segmentation;Codes;Automation;Roads;Routing;Automobiles;Vehicle dynamics},
     doi = {10.1109/ICRA48891.2023.10160717},
   }

7. Weathering ongoing uncertainty: learning and planning in a time-varying partially observable environment

   Gokul Puthumanaillam , Xiangyu Liu , Negar Mehr, and Melkior Ornik

   arXiv preprint arXiv:2312.03263, 2023

2022

1. Stackelberg routing of autonomous cars in mixed-autonomy traffic networks

   Maxwell Kolarich , and Negar Mehr

   In 2022 Annual American Control Conference (ACC) , 2022

   Bib

   @inproceedings{kolarich2022stackelberg,
     title = {Stackelberg routing of autonomous cars in mixed-autonomy traffic networks},
     author = {Kolarich, Maxwell and Mehr, Negar},
     year = {2022},
     booktitle = {2022 Annual American Control Conference (ACC)},
     organization = {IEEE},
   }

2. Congestion-aware Multi-model Delivery Systems Utilizing Drones

   Mark Beliaev , Negar Mehr, and Ramtin Pedarsani

   European Control Conference, 2022
3. Learning Contraction Policies from Offline Data

   Navid Rezazadeh , Maxwell Kolarich , Solmaz Kia , and Negar Mehr

   IEEE Robotics and Automation Letters, 2022

2021

1. Potential iLQR: A Potential-Minimizing Controller for Planning Multi-Agent Interactive Trajectories

   Talha Kavuncu , Ayberk Yaraneri , and Negar Mehr

   In Proceedings of Robotics: Science and Systems , Jul 2021

   arXiv HTML
2. A game theoretic macroscopic model of lane choices at traffic diverges with applications to mixed–autonomy networks

   Negar Mehr, Ruolin Li , and Roberto Horowitz

   Transportation Research Part B: Methodological, Jul 2021

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3. Rat ilqr: A risk auto-tuning controller to optimally account for stochastic model mismatch

   Haruki Nishimura , Negar Mehr, Adrien Gaidon , and Mac Schwager

   IEEE Robotics and Automation Letters, Jul 2021

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2020

1. Game-Theoretic Planning for Risk-Aware Interactive Agents

   Mingyu Wang , Negar Mehr, Adrien Gaidon , and Mac Schwager

   In 2020 IEEE International Conference on Intelligent Robots and Systems (IROS) , Jul 2020

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2. The Impact of Autonomous Vehicles’ Headway on the Social Delay of Traffic Networks

   Ruolin Li , Negar Mehr, and Roberto Horowitz

   In 2020 59th IEEE Conference on Decision and Control (CDC) , Jul 2020

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3. Platoon Formation Algorithm for Minimizing Travel Time

   Mikhail Burov , Negar Mehr, Stanley Smith , Alexander Kurzhanskiy , and Murat Arcak

   In 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) , Jul 2020

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2019

1. How will the presence of autonomous vehicles affect the equilibrium state of traffic networks?

   Negar Mehr, and Roberto Horowitz

   IEEE Transactions on Control of Network Systems, Jul 2019

   arXiv HTML
2. An Extended Game–Theoretic Model for Aggregate Lane Choice Behavior of Vehicles at Traffic Diverges with a Bifurcating Lane

   Ruolin Li , Negar Mehr, and Roberto Horowitz

   In 2019 IEEE Intelligent Transportation Systems Conference (ITSC) , Jul 2019

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3. Pricing traffic networks with mixed vehicle autonomy

   Negar Mehr, and Roberto Horowitz

   In 2019 American Control Conference (ACC) , Jul 2019

   arXiv HTML

2018

1. A game theoretic model for aggregate bypassing behavior of vehicles at traffic diverges

   Negar Mehr, Ruolin Li , and Roberto Horowitz

   In 2018 21st International Conference on Intelligent Transportation Systems (ITSC) , Jul 2018

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2. Can the presence of autonomous vehicles worsen the equilibrium state of traffic networks?

   Negar Mehr, and Roberto Horowitz

   In 2018 IEEE Conference on Decision and Control (CDC) , Jul 2018

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3. Signal Control for Urban Traffic Networks with Unknown System Parameters

   Negar Mehr, Jennie Lioris , Roberto Horowitz , and Ramtin Pedarsani

   In 2018 21st International Conference on Intelligent Transportation Systems (ITSC) , Jul 2018

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4. Offset selection for bandwidth maximization on multiple routes

   Negar Mehr, Marc Sanselme , Nitzan Orr , Roberto Horowitz , and Gabriel Gomes

   In 2018 Annual American Control Conference (ACC) , Jul 2018

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5. A submodular approach for optimal sensor placement in traffic networks

   Negar Mehr, and Roberto Horowitz

   In 2018 Annual American Control Conference (ACC) , Jul 2018

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2017

1. Stochastic predictive freeway ramp metering from signal temporal logic specifications

   Negar Mehr, Dorsa Sadigh , Roberto Horowitz , S Shankar Sastry , and Sanjit A Seshia

   In 2017 American Control Conference (ACC) , Jul 2017

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2. Joint perimeter and signal control of urban traffic via network utility maximization

   Negar Mehr, Jennie Lioris , Roberto Horowitz , and Ramtin Pedarsani

   In 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC) , Jul 2017

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3. Low-complexity ramp metering for freeway congestion control via network utility maximization

   Negar Mehr, Roberto Horowitz , and Ramtin Pedarsani

   In 2017 IEEE 56th Annual Conference on Decision and Control (CDC) , Jul 2017

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2016

1. Stable hybrid model predictive control for ramp metering

   Sarah Koehler , Negar Mehr, Roberto Horowitz , and Francesco Borrelli

   In 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) , Jul 2016

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2. Inferring and assisting with constraints in shared autonomy

   Negar Mehr, Roberto Horowitz , and Anca D Dragan

   In 2016 IEEE 55th Conference on Decision and Control (CDC) , Jul 2016

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3. Probabilistic freeway ramp metering

   Negar Mehr, and Roberto Horowitz

   In Dynamic Systems and Control Conference , Jul 2016

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4. Optimal mode-switching and control synthesis for floating offshore wind turbines

   Behrooz Shahsavari , Omid Bagherieh , Negar Mehr, Roberto Horowitz , and Claire Tomlin

   In 2016 American Control Conference (ACC) , Jul 2016

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