Symbolic logic framework for situational awareness in mixed autonomy

Deliverables

Data Management Plan (1st version)

“Data Management Plan (first version)”.

Public website

“Public website”, Design and first implementation with core (static) content.

Software tools on public Git repository (first release)

“Software tools on public Git repository (first release)”.

First version of the framework and tool integration

Publications

Including intent in detect-and-avoid systems for remotely piloted aircraft systems

Author(s): Sybert Stroeve, Mirco Kroon
Published in: Air Transportation Research and Development Symposium (ATRDS2025), 2025
Publisher: ATRDS
DOI: 10.5281/ZENODO.18366169

Conformal Data-driven Control of Stochastic Multi-Agent Systems under Collaborative Signal Temporal Logic Specifications

Author(s): Eleftherios E. Vlahakis, Lars Lindemann, Dimos V. Dimarogonas
Published in: 2025 IEEE 64th Conference on Decision and Control (CDC), 2026
Publisher: IEEE
DOI: 10.1109/CDC57313.2025.11312039

SySCoRe: Synthesis via Stochastic Coupling Relations

Author(s): Birgit van Huijgevoort; Oliver Schön; Sadegh Soudjani; Sofie Haesaert
Published in: HSCC '23: Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control, 2023, ISBN 9798400700330
Publisher: Association for Computing Machinery
DOI: 10.48550/ARXIV.2302.12294

Communicating Awareness: Designing a Framework for Cognitive Human-Agent Interaction for Autonomous Vehicles

Author(s): Ana Tanevska, Arabinda Ghosh, Katie Winkle, Ginevra Castellano, Sadegh Soudjani
Published in: CARSA @ HAI 2023, 2023
Publisher: CARSA
DOI: 10.5281/ZENODO.17144239

Maximally Resilient Controllers under Temporal Logic Specifications

Author(s): Youssef Ait Si, Ratnangshu Das, Negar Monir, Sadegh Soudjani, Pushpak Jagtap, Adnane Saoud
Published in: 2025 IEEE 64th Conference on Decision and Control (CDC), 2025
Publisher: IEEE
DOI: 10.1109/CDC57313.2025.11312103

Verification of Quantum Systems using Barrier Certificates

Author(s): Marco Lewis; Paolo Zuliani; Sadegh Soudjani
Published in: Quantitative Evaluation of Systems. QEST 2023, 2023, ISBN 978-3-031-43835-6
Publisher: Springer
DOI: 10.48550/arXiv.2307.07307

Formal Verification of Unknown Stochastic Systems via Non-parametric Estimation

Author(s): Zhi Zhang; Chenyu Ma; Saleh Soudijani; Sadegh Soudjani
Published in: Proceedings of The 27th International Conference on Artificial Intelligence and Statistics, Issue Volume 238, 2024
Publisher: PMLR
DOI: 10.60882/CISPA.29457704

Regret-Free Reinforcement Learning for Temporal Logic Specifications

Author(s): Rupak Majumdar, Mahmoud Salamati, Sadegh Soudjani
Published in: Proceedings of the 42nd International Conference on Machine Learning, PMLR, 2025
Publisher: ICML

Computation of Feasible Assume-Guarantee Contracts: A Resilience-based Approach

Author(s): Negar Monir, Youssef AIT Si, Ratnangshu Das, Pushpak Jagtap, Adnane Saoud, Sadegh Soudjani
Published in: 2025 IEEE 64th Conference on Decision and Control (CDC), 2025
Publisher: IEEE
DOI: 10.1109/CDC57313.2025.11312943

Rare Collision Risk Estimation of Autonomous Vehicles with Multi-Agent Situation Awareness

Author(s): Mahdieh Zaker, Henk A.P. Blom, Sadegh Soudjani, Abolfazl Lavaei
Published in: 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2025
Publisher: IEEE
DOI: 10.1109/ITSC58415.2024.10920039

"""I don't like things where I do not have control"": Participants' Experience of Trustworthy Interaction with Autonomous Vehicles"

Author(s): Ana Tanevska, Katie Winkle, Ginevra Castellano
Published in: CARSA NordiCHI 2024, 2024
Publisher: CARSA
DOI: 10.48550/ARXIV.2503.15522

Poster Abstract: A Toolchain for Accelerated Symbolic Control

Author(s): Rupak Majumdar, Kaushik Mallik, Mateusz Rychlicki, Anne-Kathrin Schmuck, Sadegh Soudjani
Published in: HSCC '23: Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control, 2023, ISBN 9798400700330
Publisher: Association for Computing Machinery
DOI: 10.1145/3575870.3589554

Poster Abstract: Data-Driven Correct-by-Design Control of Parametric Stochastic Systems✱

Author(s): Oliver Schön; Birgit Van Huijgevoort; Sofie Haesaert; Sadegh Soudjani
Published in: HSCC '23: Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control, 2023, ISBN 9798400700330
Publisher: Association for Computing Machinery
DOI: 10.1145/3575870.3589547

Energy-Constrained Active Exploration Under Incremental-Resolution Symbolic Perception

Author(s): Disha Kamale, Sofie Haesaert, Cristian-Ioan Vasile
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024
Publisher: IEEE
DOI: 10.1109/CDC49753.2023.10383606

Formalizing Vocabulary for Scenario-Based Testing of Automated Driving Systems: From Semantics to Mathematics

Author(s): Kevin Tom Kurian, Nishant Rajesh, Erjen Lefeber, Jeroen Ploeg, Nathan Van De Wouw, Igo Besselink, Mohsen Alirezaei
Published in: 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2025
Publisher: IEEE
DOI: 10.1109/ITSC58415.2024.10919488

Data-Driven Abstraction and Synthesis for Stochastic Systems with Unknown Dynamics

Author(s): Mahdi Nazeri, Thom Badings, Anne-Kathrin Schmuck, Sadegh Soudjani, Alessandro Abate
Published in: 2025 IEEE 64th Conference on Decision and Control (CDC), 2025
Publisher: IEEE
DOI: 10.1109/CDC57313.2025.11312907

Temporal Logic Resilience for Cyber-Physical Systems

Author(s): Adnane Saoud, Pushpak Jagtap, Sadegh Soudjani
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2024
Publisher: IEEE
DOI: 10.1109/CDC49753.2023.10384033

Visualizing Confidence in Delivery Robots: Insights from Two Online Studies

Author(s): Ronald Cumbal, Natalia Calvo-Barajas, Marina Escobar-Planas, Alexandros Rouchitsas, Ginevra Castellano
Published in: Proceedings of the Extended Abstracts of the CHI Conference on Human Factors in Computing Systems, 2025
Publisher: ACM
DOI: 10.1145/3706599.3719695

Correct-by-Design Control of Parametric Stochastic Systems

Author(s): Oliver Schön, Birgit van Huijgevoort, Sofie Haesaert, Sadegh Soudjani
Published in: 2022 IEEE 61st Conference on Decision and Control (CDC 2022), 2023, ISSN 2576-2370
Publisher: IEEE
DOI: 10.48550/arXiv.2210.08269

Compositional Synthesis of Signal Temporal Logic Tasks via Assume-Guarantee Contracts

Author(s): Siyuan Liu, Adnane Saoud, Pushpak Jagtap, Dimos V. Dimarogonas, Majid Zamani
Published in: 2022 IEEE 61st Conference on Decision and Control (CDC, 2023, ISSN 2576-2370
Publisher: IEEE
DOI: 10.48550/arXiv.2203.10041

Data-Driven Yet Formal Policy Synthesis for Stochastic Nonlinear Dynamical Systems

Author(s): Mahdi Nazeri, Thom Badings, Sadegh Soudjani, Alessandro Abate
Published in: Proceedings of Machine Learning Research, 2025
Publisher: PMLR
DOI: 10.48550/ARXIV.2501.01191

Stability of Open Multi-Agent Systems over Dynamic Signed Graphs

Author(s): Pelin Sekercioglu, Angela Fontan, Dimos V. Dimarogonas
Published in: 2025 IEEE 64th Conference on Decision and Control (CDC), 2025
Publisher: IEEE
DOI: 10.1109/CDC57313.2025.11312939

A flexible toolchain for symbolic rabin games under fair and stochastic uncertainties

Author(s): Rupak Majumdar, Kaushik Mallik, Mateusz Rychlicki, Anne-Kathrin Schmuck & Sadegh Soudjani
Published in: International Conference on Computer Aided Verification 2023, 2023, ISBN 978-3-031-37709-9
Publisher: Springer
DOI: 10.5281/zenodo.7877791

How Unsafe was the Scenario? A Criticality Measure for Scenario-Based Testing of Automated Vehicles

Author(s): Kevin Tom Kurian, Nishant Rajesh, Erjen Lefeber, Jeroen Ploeg, Nathan van de Wouw, Igo Besselink, Mohsen Alirezaei
Published in: 2025 IEEE Intelligent Vehicles Symposium (IV), 2025
Publisher: IEEE
DOI: 10.1109/IV64158.2025.11097344

Verifying the Unknown: Correct-by-Design Control Synthesis for Networks of Stochastic Uncertain Systems

Author(s): Oliver Schön; Birgit van Huijgevoort; Sofie Haesaert; Sadegh Soudjani
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2023, ISSN 2576-2370
Publisher: IEEE
DOI: 10.48550/ARXIV.2309.01276

Stochastic MPC for Finite Gaussian Mixture Disturbances with Guarantees

Author(s): Maico Hendrikus Wilhelmus Engelaar; Micha P. P. Swaanen; Mircea Lazar; Sofie Haesaert
Published in: 2025 European Control Conference (ECC), 2025, ISSN 2996-8895
Publisher: IEEE
DOI: 10.48550/ARXIV.2411.07887

Average Reward Reinforcement Learning for Omega-Regular and Mean-Payoff Objectives

Author(s): Milad Kazemi, Mateo Perez, Fabio Somenzi, Sadegh Soudjani, Ashutosh Trivedi, Alvaro Velasquez
Published in: Journal of Artificial Intelligence Research, Issue 85, 2025, ISSN 1076-9757
Publisher: AI Access Foundation
DOI: 10.1613/JAIR.1.19233

Data-Driven Distributionally Robust Safety Verification Using Barrier Certificates and Conditional Mean Embeddings

Author(s): Oliver Schön; Zhengang Zhong; Sadegh Soudjani
Published in: 2024 American Control Conference (ACC), 2024, ISSN 2571-0613
Publisher: IEEE
DOI: 10.13140/RG.2.2.12824.61444

Lyapunov-Based Policy Synthesis for Multi-Objective Interval MDPs

Author(s): Negar Monir, Oliver Schön, Sadegh Soudjani
Published in: IFAC-PapersOnLine, Issue 58, 2024, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/J.IFACOL.2024.07.432

Compositional Reinforcement Learning for Discrete-Time Stochastic Control Systems

Author(s): Abolfazl Lavaei; Mateo Perez; Milad Kazemi; Fabio Somenzi; Sadegh Soudjani; Ashutosh Trivedi; Majid Zamani
Published in: IEEE Open Journal of Control Systems, 2023, ISSN 2694-085X
Publisher: IEEE
DOI: 10.48550/ARXIV.2208.03485

Using Knowledge Awareness to Improve Safety of Autonomous Driving

Author(s): Calvagna, Andrea; Ghosh, Arabinda; Soudjnai, Sadegh
Published in: 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2023, ISSN 2473-2001
Publisher: IEEE
DOI: 10.48550/ARXIV.2310.16760

Data-driven verification and synthesis of stochastic systems via barrier certificates

Author(s): Ali Salamati, Abolfazl Lavaei, Sadegh Soudjani, Majid Zamani
Published in: Automatica, Issue 159, 2024, ISSN 0005-1098
Publisher: Elsevier BV
DOI: 10.1016/J.AUTOMATICA.2023.111323

A Communication Consistent Approach to Signal Temporal Logic Task Decomposition in Multi-Agent Systems

Author(s): Gregorio Marchesini; Siyuan Liu 0002; Lars Lindemann; Dimos V. Dimarogonas
Published in: IEEE Transactions on Automatic Control, 2025, ISSN 1558-2523
Publisher: IEEE
DOI: 10.48550/ARXIV.2410.12563

Data-Driven Abstractions via Binary-Tree Gaussian Processes for Formal Verification

Author(s): Oliver Schön, Shammakh Naseer, Ben Wooding, Sadegh Soudjani
Published in: IFAC-PapersOnLine, Issue 58, 2024, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/J.IFACOL.2024.07.434

Robust Model Predictive Control for Aircraft Intent-Aware Collision Avoidance

Author(s): Arash Bahari Kordabad; Andrea Da Col; Arabinda Ghosh; Sybert Stroeve; Sadegh Soudjani
Published in: 2025 European Control Conference (ECC), 2025, ISSN 2996-8895
Publisher: ECC
DOI: 10.48550/ARXIV.2408.06999

Neural Abstraction-Based Controller Synthesis and Deployment

Author(s): Rupak Majumdar, Mahmoud Salamati, Sadegh Soudjani
Published in: ACM Transactions on Embedded Computing Systems, Issue Vol. 22, No. 5s, 2023, ISSN 1558-3465
Publisher: ACM
DOI: 10.1145/360810

Safe Reach Set Computation via Neural Barrier Certificates

Author(s): Alessandro Abate, Sergiy Bogomolov, Alec Edwards, Kostiantyn Potomkin, Sadegh Soudjani, Paolo Zuliani
Published in: IFAC-PapersOnLine, Issue 58, 2024, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/J.IFACOL.2024.07.433

Bayesian Formal Synthesis of Unknown Systems via Robust Simulation Relations

Author(s): Oliver Schön; Birgit van Huijgevoort; Sofie Haesaert; Sadegh Soudjani
Published in: IEEE Transactions on Automatic Control, Issue Volume 70, issue 3, 2024, ISSN 1558-2523
Publisher: IEEE
DOI: 10.48550/ARXIV.2304.07428

Necessary and Sufficient Certificates for Almost Sure Reachability

Author(s): Rupak Majumdar, V. R. Sathiyanarayana, Sadegh Soudjani
Published in: IEEE Control Systems Letters, Issue 8, 2024, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LCSYS.2024.3507279

Automated Formation Control Synthesis from Temporal Logic Specifications

Author(s): Shuhao Qi; Zengjie Zhang; Sofie Haesaert; Zhiyong Sun
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2023, ISSN 1558-2256
Publisher: IEEE
DOI: 10.48550/ARXIV.2304.00275

SySCoRe 2.0: Toolset for formal control synthesis of continuous-state stochastic systems and temporal logic specifications

Author(s): B.C. van Huijgevoort, M.H.W. Engelaar, S. Soudjani, S. Haesaert
Published in: Nonlinear Analysis: Hybrid Systems, Issue 58, 2025, ISSN 1751-570X
Publisher: Elsevier BV
DOI: 10.1016/J.NAHS.2025.101607

Risk-Aware Real-Time Task Allocation for Stochastic Multi-Agent Systems under STL Specifications

Author(s): Maico Hendrikus Wilhelmus Engelaar; Zengjie Zhang; Eleftherios E. Vlahakis; Dimos V. Dimarogonas; Mircea Lazar; Sofie Haesaert
Published in: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2024, ISSN 2576-2370
Publisher: IEEE
DOI: 10.48550/ARXIV.2404.02111

UpStory: the uppsala storytelling dataset

Author(s): Fraile, Marc; Calvo-Barajas, Natalia; Apeiron, Anastasia Sophia; Varni, Giovanna; Lindblad, Joakim; Sladoje, Nataša; Castellano, Ginevra
Published in: Frontiers in Robotics and AI, Issue 12, 2025, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.48550/ARXIV.2407.04352

Incremental Data-Driven Policy Synthesis via Game Abstractions

Author(s): Irmak Sağlam, Mahdi Nazeri, Alessandro Abate, Sadegh Soudjani, Anne-Kathrin Schmuck
Published in: Proceedings of the AAAI Conference on Artificial Intelligence, Issue 40, 2026, ISSN 2374-3468
Publisher: Association for the Advancement of Artificial Intelligence (AAAI)
DOI: 10.1609/AAAI.V40I43.40956

Data-driven abstraction-based control synthesis

Author(s): Milad Kazemi, Rupak Majumdar, Mahmoud Salamati, Sadegh Soudjani, Ben Wooding
Published in: Nonlinear Analysis: Hybrid Systems, Issue 52, 2024, ISSN 1751-570X
Publisher: Elsevier BV
DOI: 10.1016/J.NAHS.2024.101467

Distributionally Robust Control for Chance-Constrained Signal Temporal Logic Specifications

Author(s): Arash Bahari Kordabad; Eleftherios E. Vlahakis; Lars Lindemann; Dimos V. Dimarogonas; Sadegh Soudjani
Published in: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2024, ISSN 2576-2370
Publisher: IEEE
DOI: 10.48550/ARXIV.2409.03855

Risk-Aware Reward Shaping of Reinforcement Learning Agents for Autonomous Driving

Author(s): Lin-Chi Wu; Zengjie Zhang; Sofie Haesaert; Zhiqiang Ma 0001; Zhiyong Sun
Published in: IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society, 2023, ISSN 2577-1647
Publisher: IECON
DOI: 10.48550/ARXIV.2306.03220

User Evaluation by Remote Pilots of Two Types of Detect-and-Avoid Systems: Remain Well Clear Bands Versus Route Guidance

Author(s): Sybert Stroeve, Ana Tanevska, Mirco Kroon, Ginevra Castellano
Published in: Aerospace, Issue 13, 2026, ISSN 2226-4310
Publisher: MDPI AG
DOI: 10.3390/AEROSPACE13030295

Risk-Aware MPC for Stochastic Systems with Runtime Temporal Logics

Author(s): Maico Hendrikus Wilhelmus Engelaar; Zengjie Zhang; M. Lazar; Sofie Haesaert
Published in: IFAC-PapersOnLine, 2024, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.48550/ARXIV.2402.03165

Symbolic control for stochastic systems via finite parity games

Author(s): Rupak Majumdar, Kaushik Mallik, Anne-Kathrin Schmuck, Sadegh Soudjani
Published in: Nonlinear Analysis: Hybrid Systems, Issue 51, 2024, ISSN 1751-570X
Publisher: Elsevier BV
DOI: 10.1016/J.NAHS.2023.101430

A case study in designing trustworthy interactions: implications for socially assistive robotics

Author(s): Mengyu Zhong, Marc Fraile, Ginevra Castellano, Katie Winkle
Published in: Frontiers in Computer Science, Issue 1152532, 2023, ISSN 2624-9898
Publisher: Frontiers Media
DOI: 10.3389/fcomp.2023.1152532

Assume-Guarantee Reinforcement Learning

Author(s): Kazemi, Milad; Perez, Mateo; Somenzi, Fabio; Soudjani, Sadegh; Trivedi, Ashutosh; Velasquez, Alvaro
Published in: Proceedings of the AAAI Conference on Artificial Intelligence, Issue Volume 38 Issue 19 Pages 21223-21231, 2024, ISSN 2159-5399
Publisher: AAAI
DOI: 10.48550/ARXIV.2312.09938

LUCID: Learning-Enabled Uncertainty-Aware Certification of Stochastic Dynamical Systems

Author(s): Ernesto Casablanca, Oliver Schön, Paolo Zuliani, Sadegh Soudjani
Published in: Proceedings of the AAAI Conference on Artificial Intelligence, Issue 40, 2026, ISSN 2374-3468
Publisher: Association for the Advancement of Artificial Intelligence (AAAI)
DOI: 10.1609/AAAI.V40I24.39075

A Distributed Kalman-Like Observer With Dynamic Inversion-Based Correction for Multi-Agent Estimation

Author(s): Nicola De Carli; Dimos V. Dimarogonas
Published in: IEEE Control Systems Letters, Issue vol. 9, pp. 523-528, 2025, 2025, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/LCSYS.2025.3576671

Modularized Control Synthesis for Complex Signal Temporal Logic Specifications

Author(s): Zengjie Zhang; Sofie Haesaert
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC), 2023, ISSN 1558-2256
Publisher: IEEE
DOI: 10.48550/ARXIV.2303.17086

Formal Control for Uncertain Systems via Contract-Based Probabilistic Surrogates

Author(s): Oliver Schön, Sofie Haesaert, Sadegh Soudjani
Published in: Lecture Notes in Computer Science, Quantitative Evaluation of Systems and Formal Modeling and Analysis of Timed Systems, 2025
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-032-05792-1_4

Deliverables

Publications

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