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Sayan Mitra - IEEE Xplore Author Profile
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Sayan Mitra

Also published under: S. Mitra

Publications
54
Citations
875
Publications by Year
20042024
Co-Authors:
Show All Co-Authors (98)
Image of author Sayan Mitra

Sayan Mitra

Also published under: S. Mitra

Affiliation

University of Illinois, Urbana-Champaign

Publication Topics

Biography

Sayan Mitra received the bachelor’s degree in electrical engineering from Jadavpur University, Kolkata, India, in 1999, the master’s degree in computer science from the Indian Institute of Science, Bengaluru, India, in 2001, and the Doctorate degree from the Massachusetts Institute of Technology, Cambridge, MA, USA, in 2007.,He is currently a Professor of electrical and computer engineering, University of Illinois at Urbana-Champaign, Champaign, IL, USA. His textbook on verification of cyber-physical systems was published by MIT Press in 2021. His research interests include formal methods, hybrid systems, and safe autonomy.,Prof. Mitra is a recipient of the National Science Foundation’s CAREER Award, Air Force Office of Scientific Research ...
Publications
54
Citations
875
Publications by Year
20042024
Co-Authors:
Show All Co-Authors (98)
Author's Published Works

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GAS: Generating Fast & Accurate Surrogate Models for Simulations of Autonomous Vehicle Systems

Keyur Joshi;Chiao Hsieh;Sayan Mitra;Sasa Misailovic

2024 IEEE 35th International Symposium on Software Reliability Engineering (ISSRE)
Year: 2024 | Conference Paper |
Modern autonomous vehicle systems (AVS) use complex perception and control components. Developers gradually change these components over the vehicle’s lifecycle, requiring frequent regression testing. Unfortunately, high-fidelity simulations of these complex AVS for evaluating safety are costly, and their complexity hinders the development of precise but less computationally intensive surrogate mo...Show More

GAS: Generating Fast & Accurate Surrogate Models for Simulations of Autonomous Vehicle Systems

Keyur Joshi;Chiao Hsieh;Sayan Mitra;Sasa Misailovic

Year: 2024 | Conference Paper |

Guaranteed Safe Satellite Guidance and Navigation Using Reachability Based Switching Controllers

Kristina Miller;Sean Phillips;Sayan Mitra

2024 American Control Conference (ACC)
Year: 2024 | Conference Paper |
The safety of satellites is an increasingly difficult requirement as launches of new satellites increase the clutter of space environments. The deployment of new, experimental controllers is important to increase the autonomous capabilities of satellites but may be at odds with safety. In this work, we consolidate these two goals by synthesizing a formally safe controller and a runtime assurance l...Show More

Guaranteed Safe Satellite Guidance and Navigation Using Reachability Based Switching Controllers

Kristina Miller;Sean Phillips;Sayan Mitra

Year: 2024 | Conference Paper |

Assuring Safety of Vision-Based Swarm Formation Control

Chiao Hsieh;Yubin Koh;Yangge Li;Sayan Mitra

2024 American Control Conference (ACC)
Year: 2024 | Conference Paper |
Cited by: Papers (2)
Vision-based formation control systems are attractive because they can use inexpensive sensors and can work in G PS-denied environments. The safety assurance for such systems is challenging: the vision component's accuracy depends on the environment in complicated ways, these errors propagate through the system and lead to incorrect control actions, and there exists no formal specification for end...Show More

Assuring Safety of Vision-Based Swarm Formation Control

Chiao Hsieh;Yubin Koh;Yangge Li;Sayan Mitra

Year: 2024 | Conference Paper |

Learning-based Inverse Perception Contracts and Applications

Dawei Sun;Benjamin C. Yang;Sayan Mitra

2024 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2024 | Conference Paper |
Cited by: Papers (3)
Perception modules are integral in many modern autonomous systems, but their accuracy can be subject to the vagaries of the environment. In this paper, we propose a learning-based approach that can automatically characterize the error of a perception module from data and use this for safe control. The proposed approach constructs an inverse perception contract (IPC) which generates a set that cont...Show More

Learning-based Inverse Perception Contracts and Applications

Dawei Sun;Benjamin C. Yang;Sayan Mitra

Year: 2024 | Conference Paper |

Optimal Runtime Assurance via Reinforcement Learning

Kristina Miller;Christopher K. Zeitler;William Shen;Kerianne Hobbs;John Schierman;Mahesh Viswanathan;Sayan Mitra

2024 ACM/IEEE 15th International Conference on Cyber-Physical Systems (ICCPS)
Year: 2024 | Conference Paper |
AI and Machine Learning could enhance autonomous systems, provided the risk of safety violations could be mitigated. Specific instances of runtime assurance (RTA) have been successful in safely testing untrusted, learning-enabled controllers, but a general design methodology for RTA remains a challenge. The problem is to create a logic that assures safety by switching to a safety (or backup) contr...Show More

Optimal Runtime Assurance via Reinforcement Learning

Kristina Miller;Christopher K. Zeitler;William Shen;Kerianne Hobbs;John Schierman;Mahesh Viswanathan;Sayan Mitra

Year: 2024 | Conference Paper |

Symmetry-Based Abstractions for Hybrid Automata

Hussein Sibai;Sayan Mitra

IEEE Transactions on Automatic Control
Year: 2024 | Volume: 69, Issue: 5 | Journal Article |
A symmetry of a dynamical system is a map that transforms any trajectory to another trajectory. Abstractions have been a key building block in the theory and practice of hybrid automata analysis. We introduce a novel abstraction for hybrid automata based on the symmetries of their modes. The abstraction procedure combines different modes of a concrete automaton $\mathcal {A}$, whose trajectories a...Show More

Symmetry-Based Abstractions for Hybrid Automata

Hussein Sibai;Sayan Mitra

Year: 2024 | Volume: 69, Issue: 5 | Journal Article |

Safety of the Stanley Controller with Curved Lanes and Noisy Perception

Hongyi Li;Sayan Mitra

2023 62nd IEEE Conference on Decision and Control (CDC)
Year: 2023 | Conference Paper |
The Stanley controller was designed for the DARPA 2005 Grand Challenge and has been widely used in real autonomous vehicles and simulation models. While the original paper presented an analysis of the tracking performance of this controller with straight roads, the analysis for general curved lanes and with perception errors is not available. We utilize Lyapunov theory to give tracking performance...Show More

Safety of the Stanley Controller with Curved Lanes and Noisy Perception

Hongyi Li;Sayan Mitra

Year: 2023 | Conference Paper |

$\mathsf{HyHooVer}$: Verification and Parameter Synthesis in Stochastic Systems With Hybrid State Space Using Optimistic Optimization

Negin Musavi;Dawei Sun;Sayan Mitra;Geir E. Dullerud;Sanjay Shakkottai

IEEE Open Journal of Control Systems
Year: 2023 | Volume: 2 | Journal Article |
This article presents a new method for model-free verification of a general class of control systems with unknown nonlinear dynamics, where the state space has both a continuum-based and a discrete component. Specifically, we focus on finding what choices of initial states or parameters maximize a given probabilistic objective function over all choices of initial states or parameters from such hyb...Show More

$\mathsf{HyHooVer}$: Verification and Parameter Synthesis in Stochastic Systems With Hybrid State Space Using Optimistic Optimization

Negin Musavi;Dawei Sun;Sayan Mitra;Geir E. Dullerud;Sanjay Shakkottai

Year: 2023 | Volume: 2 | Journal Article |

State Estimation of Continuous-Time Dynamical Systems With Uncertain Inputs With Bounded Variation: Entropy, Bit Rates, and Relation With Switched Systems

Hussein Sibai;Sayan Mitra

IEEE Transactions on Automatic Control
Year: 2023 | Volume: 68, Issue: 12 | Journal Article |
Cited by: Papers (2)
In this article, we extend the notion of estimation entropy of autonomous dynamical systems proposed by Liberzon and Mitra to nonlinear dynamical systems with uncertain inputs with bounded variation. We call this new notion the $\varepsilon$-estimation entropy of the system and show that it lower bounds the bit rate needed for state estimation. $\varepsilon$-estimation entropy represents the expon...Show More

State Estimation of Continuous-Time Dynamical Systems With Uncertain Inputs With Bounded Variation: Entropy, Bit Rates, and Relation With Switched Systems

Hussein Sibai;Sayan Mitra

Year: 2023 | Volume: 68, Issue: 12 | Journal Article |

Multi-agent motion planning using differential games with lexicographic preferences

Kristina Miller;Sayan Mitra

2022 IEEE 61st Conference on Decision and Control (CDC)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
Multi-player games with lexicographic cost functions can capture a variety of driving and racing scenarios and are known to have pure-strategy Nash Equilibria (NE) under certain conditions. The standard Iterated Best Response (IBR) procedure for finding such equilibria can be slow because computing the best response for each agent generally involves solving a non-convex optimization problem. In th...Show More

Multi-agent motion planning using differential games with lexicographic preferences

Kristina Miller;Sayan Mitra

Year: 2022 | Conference Paper |

Industry-track: Challenges in Rebooting Autonomy with Deep Learned Perception

Michael Abraham;Aaron Mayne;Tristan Perez;Italo Romani De Oliveira;Huafeng Yu;Chiao Hsieh;Yangge Li;Dawei Sun;Sayan Mitra

2022 International Conference on Embedded Software (EMSOFT)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
Deep learning (DL) models are becoming effective in solving computer-vision tasks such as semantic segmentation, object tracking, and pose estimation on real-world captured images. Reliability analysis of autonomous systems that use these DL models as part of their perception systems have to account for the performance of these models. Autonomous systems with traditional sensors have tried-and-tes...Show More

Industry-track: Challenges in Rebooting Autonomy with Deep Learned Perception

Michael Abraham;Aaron Mayne;Tristan Perez;Italo Romani De Oliveira;Huafeng Yu;Chiao Hsieh;Yangge Li;Dawei Sun;Sayan Mitra

Year: 2022 | Conference Paper |

Programming Abstractions for Simulation and Testing on Smart Manufacturing Systems

Chiao Hsieh;Daniel Wu;Yubin Koh;Sayan Mitra

2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)
Year: 2022 | Conference Paper |
A smart manufacturing system is a complex cyber-physical system consisting of a collection of component machines and a floorplan layout defining the spatial relationship between components. Each component may be of different physical behavior with different control software. Simulation and testing on smart manufacturing systems require a software infrastructure that can orchestrate the execution o...Show More

Programming Abstractions for Simulation and Testing on Smart Manufacturing Systems

Chiao Hsieh;Daniel Wu;Yubin Koh;Sayan Mitra

Year: 2022 | Conference Paper |

Symmetry for Boosting Algorithmic Proofs of Cyberphysical Systems

Sayan Mitra;Hussein Sibai

Computer
Year: 2022 | Volume: 55, Issue: 10 | Magazine Article |
Cited by: Papers (1)
Recent algorithms show how the availability of structural knowledge, such as symmetries, can significantly improve autonomous system verification in terms of both running time and sample complexity.Show More

Symmetry for Boosting Algorithmic Proofs of Cyberphysical Systems

Sayan Mitra;Hussein Sibai

Year: 2022 | Volume: 55, Issue: 10 | Magazine Article |

Differentially Private Algorithms for Statistical Verification of Cyber-Physical Systems

Yu Wang;Hussein Sibai;Mark Yen;Sayan Mitra;Geir E. Dullerud

IEEE Open Journal of Control Systems
Year: 2022 | Volume: 1 | Journal Article |
Cited by: Papers (3)
Statistical model checking is a class of sequential algorithms that can verify specifications of interest on an ensemble of cyber-physical systems (e.g., whether 99% of cars from a batch meet a requirement on their functionality). These algorithms infer the probability that given specifications are satisfied by the systems with provable statistical guarantees by drawing sufficient numbers of indep...Show More

Differentially Private Algorithms for Statistical Verification of Cyber-Physical Systems

Yu Wang;Hussein Sibai;Mark Yen;Sayan Mitra;Geir E. Dullerud

Year: 2022 | Volume: 1 | Journal Article |

Verifying Controllers With Vision-Based Perception Using Safe Approximate Abstractions

Chiao Hsieh;Yangge Li;Dawei Sun;Keyur Joshi;Sasa Misailovic;Sayan Mitra

IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems
Year: 2022 | Volume: 41, Issue: 11 | Journal Article |
Cited by: Papers (14)
Fully formal verification of perception models is likely to remain challenging in the foreseeable future, and yet these models are being integrated into safety-critical control systems. We present a practical method for reasoning about the safety of such systems. Our method is based on systematically constructing approximations of perception models from system-level safety requirements, data, and ...Show More

Verifying Controllers With Vision-Based Perception Using Safe Approximate Abstractions

Chiao Hsieh;Yangge Li;Dawei Sun;Keyur Joshi;Sasa Misailovic;Sayan Mitra

Year: 2022 | Volume: 41, Issue: 11 | Journal Article |

Multi-Agent Motion Planning From Signal Temporal Logic Specifications

Dawei Sun;Jingkai Chen;Sayan Mitra;Chuchu Fan

IEEE Robotics and Automation Letters
Year: 2022 | Volume: 7, Issue: 2 | Journal Article |
Cited by: Papers (55)
We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion planning, especially those based on discrete abstractions and model predictive control (MPC), suffer from limited scalability with respect to the complexity of th...Show More

Multi-Agent Motion Planning From Signal Temporal Logic Specifications

Dawei Sun;Jingkai Chen;Sayan Mitra;Chuchu Fan

Year: 2022 | Volume: 7, Issue: 2 | Journal Article |

Controller Synthesis for Linear System With Reach-Avoid Specifications

Chuchu Fan;Zengyi Qin;Umang Mathur;Qiang Ning;Sayan Mitra;Mahesh Viswanathan

IEEE Transactions on Automatic Control
Year: 2022 | Volume: 67, Issue: 4 | Journal Article |
Cited by: Papers (11)
We address the problem of synthesizing provably correct controllers for linear systems with reach-avoid specifications. Discrete abstraction-based controller synthesis techniques have been developed for linear and nonlinear systems with various types of specifications. However, these methods typically suffer from the state space explosion problem. Our solution decomposes the overall synthesis prob...Show More

Controller Synthesis for Linear System With Reach-Avoid Specifications

Chuchu Fan;Zengyi Qin;Umang Mathur;Qiang Ning;Sayan Mitra;Mahesh Viswanathan

Year: 2022 | Volume: 67, Issue: 4 | Journal Article |

HooVer: A Framework for Verification and Parameter Synthesis in Stochastic Systems using Optimistic Optimization

Negin Musavi;Dawei Sun;Sayan Mitra;Geir Dullerud;Sanjay Shakkottai

2021 IEEE Conference on Control Technology and Applications (CCTA)
Year: 2021 | Conference Paper |
Cited by: Papers (1)
This paper provides a new approach for probabilistic verification of control and dynamical systems in the scenario where there is a finite computational budget that must be used judiciously; it is based on leveraging multiarmed bandits theory from machine learning. We present an algorithm for formal verification and parameter synthesis of continuous state-space Markov chains, introduce our associa...Show More

HooVer: A Framework for Verification and Parameter Synthesis in Stochastic Systems using Optimistic Optimization

Negin Musavi;Dawei Sun;Sayan Mitra;Geir Dullerud;Sanjay Shakkottai

Year: 2021 | Conference Paper |

SkyTrakx: A Toolkit for Simulation and Verification of Unmanned Air-Traffic Management Systems

Chiao Hsieh;Hussein Sibai;Hebron Taylor;Yifeng Ni;Sayan Mitra

2021 IEEE International Intelligent Transportation Systems Conference (ITSC)
Year: 2021 | Conference Paper |
Cited by: Papers (5)
The key concept for safe and efficient traffic management for Unmanned Aircraft Systems (UAS) is the notion of operation volume (OV). An OV is a 4-dimensional block of airspace and time, which can express an aircraft's intent, and can be used for planning, de-confliction, and traffic management. While there are several high-level simulators for UAS Traffic Management (UTM), we are lacking a framew...Show More

SkyTrakx: A Toolkit for Simulation and Verification of Unmanned Air-Traffic Management Systems

Chiao Hsieh;Hussein Sibai;Hebron Taylor;Yifeng Ni;Sayan Mitra

Year: 2021 | Conference Paper |

HIOA-CPS: Combining Hybrid Input-Output Automaton and Game Theory for Security Modeling of Cyber-Physical Systems

Mustafa Abdallah;Sayan Mitra;Shreyas Sundaram;Saurabh Bagchi

2021 IEEE Security and Privacy Workshops (SPW)
Year: 2021 | Conference Paper |
A Cyber-Physical System (CPS) is usually composed of subnetworks where each subnetwork is under ownership of one defender. Security threats on such CPS can be represented by an attack graph where the defenders are required to invest wisely their limited budget in order to protect their critical assets from being compromised. We model such CPS using hybrid input/output automaton (HIOA) where each s...Show More

HIOA-CPS: Combining Hybrid Input-Output Automaton and Game Theory for Security Modeling of Cyber-Physical Systems

Mustafa Abdallah;Sayan Mitra;Shreyas Sundaram;Saurabh Bagchi

Year: 2021 | Conference Paper |

Egocentric abstractions for modeling and safety verification of distributed cyber-physical systems

Sung Woo Jeon;Sayan Mitra

2021 IEEE Security and Privacy Workshops (SPW)
Year: 2021 | Conference Paper |
Modeling is a significant piece of the puzzle in achieving safety certificates for distributed IoT and cyberphysical systems. From smart home devices to connected and autonomous vehicles, several modeling challenges like dynamic membership of participants and complex interaction patterns, span across application domains. Modeling multiple interacting vehicles can become unwieldy and impractical as...Show More

Egocentric abstractions for modeling and safety verification of distributed cyber-physical systems

Sung Woo Jeon;Sayan Mitra

Year: 2021 | Conference Paper |

Online Monitoring for Safe Pedestrian-Vehicle Interactions

Peter Du;Zhe Huang;Tianqi Liu;Tianchen Ji;Ke Xu;Qichao Gao;Hussein Sibai;Katherine Driggs-Campbell;Sayan Mitra

2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)
Year: 2020 | Conference Paper |
Cited by: Papers (16)
As autonomous systems begin to operate amongst humans, methods for safe interaction must be investigated. We consider an example of a small autonomous vehicle in a pedestrian zone that must safely maneuver around people in a free-form fashion. We investigate two key questions: How can we effectively integrate pedestrian intent estimation into our autonomous stack? Can we develop an online monitori...Show More

Online Monitoring for Safe Pedestrian-Vehicle Interactions

Peter Du;Zhe Huang;Tianqi Liu;Tianchen Ji;Ke Xu;Qichao Gao;Hussein Sibai;Katherine Driggs-Campbell;Sayan Mitra

Year: 2020 | Conference Paper |

CyPhyHouse: A programming, simulation, and deployment toolchain for heterogeneous distributed coordination

Ritwika Ghosh;Joao P. Jansch-Porto;Chiao Hsieh;Amelia Gosse;Minghao Jiang;Hebron Taylor;Peter Du;Sayan Mitra;Geir Dullerud

2020 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2020 | Conference Paper |
Cited by: Papers (8)
Programming languages, libraries, and development tools have transformed the application development processes for mobile computing and machine learning. This paper introduces CyPhyHouse—a toolchain that aims to provide similar programming, debugging, and deployment benefits for distributed mobile robotic applications. Users can develop hardware-agnostic, distributed applications using the high-le...Show More

CyPhyHouse: A programming, simulation, and deployment toolchain for heterogeneous distributed coordination

Ritwika Ghosh;Joao P. Jansch-Porto;Chiao Hsieh;Amelia Gosse;Minghao Jiang;Hebron Taylor;Peter Du;Sayan Mitra;Geir Dullerud

Year: 2020 | Conference Paper |

SDCWorks: A Formal Framework for Software Defined Control of Smart Manufacturing Systems

Matthew Potok;Chien-Ying Chen;Sayan Mitra;Sibin Mohan

2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS)
Year: 2018 | Conference Paper |
Cited by: Papers (9)
Discrete manufacturing systems are complex cyber-physical systems (CPS) and their availability, performance, and quality have a big impact on the economy. Smart manufacturing promises to improve these aspects. One key approach that is being pursued in this context is the creation of centralized software-defined control (SDC) architectures and strategies that use diverse sensors and data sources to...Show More

SDCWorks: A Formal Framework for Software Defined Control of Smart Manufacturing Systems

Matthew Potok;Chien-Ying Chen;Sayan Mitra;Sibin Mohan

Year: 2018 | Conference Paper |

Algorithmic Attack Synthesis Using Hybrid Dynamics of Power Grid Critical Infrastructures

Zhenqi Huang;Sriharsha Etigowni;Luis Garcia;Sayan Mitra;Saman Zonouz

2018 48th Annual IEEE/IFIP International Conference on Dependable Systems and Networks (DSN)
Year: 2018 | Conference Paper |
Cited by: Papers (7)
Automated vulnerability assessment and exploit generation for computing systems have been explored for decades. However, these approaches are incomplete in assessing industrial control systems, where networks of computing devices and physical processes interact for safety-critical missions. We present an attack synthesis algorithm against such cyber-physical electricity grids. The algorithm explor...Show More

Algorithmic Attack Synthesis Using Hybrid Dynamics of Power Grid Critical Infrastructures

Zhenqi Huang;Sriharsha Etigowni;Luis Garcia;Sayan Mitra;Saman Zonouz

Year: 2018 | Conference Paper |

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