Publications

Journal Papers

  1. T.Y. Mina, A. Kanhere, S. Kousik, and G.X. Gao. “Stochastic Reachability-Based GPS Spoofing Detection with Chimera Signal Enhancement.” NAVIGATION, Journal of the Institute of Navigation (ION), December 2023.
  2. S. Bhamidipati, S. Kousik, and G.X. Gao. “Set-Valued Shadow Matching Using Zonotopes for 3-D Map-Aided GNSS Localization.” NAVIGATION, Journal of the Institute of Navigation (ION), February 2023.
  3. M. Selim, A. Alanwar, S. Kousik, G.X. Gao, M. Pavone, and K. Johansson. “Safe Reinforcement Learning Using Black-Box Reachability Analysis.” IEEE Robotics and Automation Letters, July 2022.
  4. S. Kousik, A. Dai, and G.X. Gao. “Ellipsotopes: Combining Ellipsoids and Zonotopes for Reachability Analysis and Fault Detection.” IEEE Transactions on Automatic Control, July 2022.
  5. Y.S. Shao, C. Chao, S. Kousik, and R. Vasudevan. “Reachability-based Trajectory Safeguard (RTS): A Safe and Fast Reinforcement Learning Safety Layer for Continuous Control.” IEEE Robotics and Automation Letters, March 2021.
  6. S. Kousik, B. Zhang, P. Zhao, and R. Vasudevan. “Safe, optimal, real-time trajectory planning with a parallel constrained Bernstein algorithm.” IEEE Transactions on Robotics, November 2020.
  7. S. Kousik, S. Vaskov, F. Bu, M. Johnson-Roberson, and R. Vasudevan. “Bridging the gap between safety and real-time performance in receding-horizon trajectory design for mobile robots.” The International Journal of Robotics Research, August 2020.

Refereed Conference & Workshop Papers

  1. A. Shamsah, K. Agarwal, S. Kousik, Y. Zhao. “Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation.” International Conference on Intelligent Robots and Systems, Abu Dhabi, United Arab Emirates, Oct 2024.
  2. L.K. Chung, W. Jung, C. Kong, S. Kousik. “Goal-Reaching Trajectory Design Near Danger with Piecewise Affine Reach-avoid Computation.” Robotics: Science and Systems, Delft, Netherlands, July 2024.
  3. L. Paparusso, S. Kousik, E. Schmerling, F. Braghin, M. Pavone. “ZAPP! Zonotope Agreement of Prediction and Planning for Continuous-Time Collision Avoidance with Discrete-Time Dynamics.” IEEE International Conference on Robotics and Automation, Yokohama, Japan, May 2024.
  4. J. Sun, S. Kousik, D. Fridovich-Keil, and M. Schwager. “Connected Autonomous Vehicle Motion Planning with Video Predictions from Smart, Self-Supervised Infrastructure.” IEEE Intelligent Transportation Systems Conference, Bilbao, Spain, September 2023.
  5. J. Sun, S. Kousik, D. Fridovich-Keil, and M. Schwager. “Self-Supervised Traffic Advisors: Distributed, Multi-view Traffic Prediction for Smart Cities.” IEEE Intelligent Transportation Systems Conference, Macau, October 2022.
  6. S. Bhamidipati, S. Kousik, and G.X. Gao. “Set-Valued Shadow Matching using Zonotopes.” Institute of Navigation (ION) GNSS+ Conference, virtual, September 2021.
  7. T.Y. Mina, A. Kanhere, S. Kousik, and G.X. Gao. “Continuous GPS Authentication with Chimera using Stochastic Reachability Analysis.” Institute of Navigation (ION) GNSS+ Conference, virtual, September 2021.
  8. L.K. Chung, A. Dai, D. Knowles, S. Kousik, and G.X. Gao. “Constrained Feedforward Neural Network Training via Reachability Analysis.” Robotics for People workshop at R:SS’21, virtual, July 2021.
  9. P. Holmes, S. Kousik, B. Zhang, D. Raz, C. Barbalata, M. Johnson-Roberson, and R. Vasudevan. “Reachable sets for safe, real-time manipulator trajectory design.” Robotics: Science and Systems, virtual conference, July 2020.
  10. S. Vaskov, H. Larson, S. Kousik, M. Johnson-Roberson, and R. Vasudevan. “Not-at-Fault Driving in Traffic: A Reachability-Based Approach.” IEEE Intelligent Transportation Systems Conference, Auckland, New Zealand, October 2019.
  11. S. Kousik, P. Holmes, and R. Vasudevan. “Safe, aggressive quadrotor flight via reachability-based trajectory design.” ASME Dynamic Systems and Control Conference, Park City, UT, October 2019.
  12. S. Vaskov, U. Sharma, S. Kousik, M. Johnson-Roberson, and R. Vasudevan. “Guaranteed safe reachability-based trajectory design for a high-fidelity model of an autonomous passenger vehicle.” IEEE American Control Conference, Philadelphia, PA, July 2019.
  13. S. Vaskov, S. Kousik, H. Larson, F. Bu, J. Ward, S. Worrall, M. Johnson-Roberson, and R. Vasudevan. “Towards Provably Not-at-Fault Control of Autonomous Robots in Arbitrary Dynamic Environments.” Robotics: Science and Systems, Freiburg im Brasgau, Germany, February 2019.
  14. S. Kousik, S. Vaskov, M. Johnson-Roberson, and R. Vasudevan. “Safe trajectory synthesis for autonomous driving in unforeseen environments.” ASME Dynamic Systems and Control Conference, Tysons Corner, VA, October 2017.
  15. P. Holmes, S. Kousik, S. Mohan, and R. Vasudevan. “Convex estimation of the α-confidence reachable set for systems with parametric uncertainty.” IEEE Conference on Decision and Control, Las Vegas, NV, December 2016.

arXiv Preprints

  1. W. Jung, D. Anthony, U.A. Mishra, N.R. Arachchige, M. Bronars, D. Xu, and S. Kousik. “RAIL: Reachability-Aided Imitation Learning for Safe Policy Execution.” arXiv preprint arXiv:2409.19190; 2024.
  2. L.K. Chung, W. Jung, S. Pullabhotla, P. Shinde, Y. Sunil, S. Kota, L.F.W. Batista, C. Pradalier, and S. Kousik. “Guaranteed Reach-Avoid for Black-Box Systems through Narrow Gaps via Neural Network Reachability.” arXiv preprint arXiv:2409.13195; 2024.
  3. C. Kong, A. Qiu, I. Wibowo, M. Ren, A. Dhori, K.S. Ling, A.P. Hu, and S. Kousik. “Towards Closing the Loop in Robotic Pollination for Indoor Farming via Autonomous Microscopic Inspection.” arXiv preprint arXiv:2409.12311; 2024.
  4. A. Shamsah, K. Agarwal, N. Katta, A. Raju, S. Kousik, and Y. Zhao. “Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control.” arXiv preprint arXiv:2406.17151; 2024.