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2026
Barrier-Riccati Synthesis for Nonlinear Safe Control with Expanded Region of Attraction
Hassan Almubarak, Maitham F. AL-Sunni, Justin T. Dubbin, Nader Sadegh, John M. Dolan, Evangelos A. Theodorou
American Control Conference (ACC), 2026
arXiv DOI
2025
LLA-MPC: Fast Adaptive Control for Autonomous Racing
Maitham F. AL-Sunni, Hassan Almubarak, Katherine Horng, John M. Dolan
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
arXiv IEEE Xplore Code
Barrier States Theory for Safety-Critical Multi-Objective Control
Hassan Almubarak, Nader Sadegh, Evangelos A. Theodorou
IEEE Transactions on Automatic Control, 2025, pp. 8149-8164
arXiv DOI
Safety Embedded Adaptive Control Using Barrier States
Maitham F. AL-Sunni, Hassan Almubarak, John M. Dolan
American Control Conference (ACC), 2025, pp. 303-308
arXiv DOI
2024
Differentiable Robust Model Predictive Control
Alex Oshin, Hassan Almubarak, Evangelos A. Theodorou
Robotics: Science and Systems (RSS), 2024
arXiv RSS
2023
Safe Importance Sampling in Model Predictive Path Integral Control
Manan Gandhi, Hassan Almubarak, Evangelos A. Theodorou
Preprint, 2023
arXiv
Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States
Joshua E. Kuperman, Hassan Almubarak, Augustinos D. Saravanos, Evangelos A. Theodorou
21st International Conference on Advanced Robotics (ICAR), 2023, pp. 183-190
arXiv DOI
L1 Adaptive Control of Constrained Systems Using Barrier States
Christoph Aoun, Pan Zhao, Hassan Almubarak, Naira Hovakimyan, Evangelos A. Theodorou
AIAA SciTech Forum, 2023
DOI
2022
Gaussian Process Barrier States for Safe Trajectory Optimization and Control
Hassan Almubarak, Manan Gandhi, Yuichiro Aoyama, Nader Sadegh, Evangelos A. Theodorou
Preprint, 2022
arXiv
Barrier States Embedded Iterative Dynamic Game for Robust and Safe Trajectory Optimization
Hassan Almubarak, Evangelos A. Theodorou, Nader Sadegh
American Control Conference (ACC), 2022, pp. 5166-5172
arXiv DOI
Safety Embedded Differential Dynamic Programming Using Discrete Barrier States
Hassan Almubarak, Kyle Stachowicz, Nader Sadegh, Evangelos A. Theodorou
IEEE Robotics and Automation Letters (RA-L), 2022
39th IEEE International Conference on Robotics and Automation (ICRA), 2022
arXiv DOI
2021
HJB Based Optimal Safe Control Using Control Barrier Functions
Hassan Almubarak, Evangelos A. Theodorou, Nader Sadegh
60th IEEE Conference on Decision and Control (CDC), 2021, pp. 6829-6834
arXiv DOI
Safety Embedded Control of Nonlinear Systems via Barrier States
Hassan Almubarak, Nader Sadegh, Evangelos A. Theodorou
IEEE Control Systems Letters, vol. 6, pp. 1328-1333, 2022
60th IEEE Conference on Decision and Control (CDC), 2021
arXiv DOI
2020
Recursive Analytic Solution of Nonlinear Optimal Regulators
Nader Sadegh, Hassan Almubarak
arXiv preprint, 2020
arXiv
2019
Infinite Horizon Nonlinear Quadratic Cost Regulator (NLQR)
Hassan Almubarak, Nader Sadegh, D. G. Taylor
American Control Conference (ACC), 2019, pp. 5570–5575
DOI