Publications

Submitted

• Samanipour, P.; Poonawala, H.A.;, “SEROAISE Advancing ROA Estimation for ReLU and PWA Dynamics through Estimating Certified Invariant Sets”, Automatica, 2025, (arXiv).

• Syed Ibn Mohsin, Hasan A. Poonawala, Fazleena Badurdeen, Raymond Brennan, I.S. Jawahir, “Acoustic Emission Analysis and Deep Learning-based Defect Detection in Additive Friction Stir Deposition”, Additive Manufacturing, 2025.

Journal

• Poonawala, H.A.;, “Guaranteed obstacle avoidance of convex objects in 2D without object tracking, environment mapping, or stopping”, IEEE Control Systems Letters, 2025, (Pre-print).

• Benton Clark, Syed Ibn Mohsin, Hasan A. Poonawala, Fazleena Badurdeen, Raymond Brennan, I.S. Jawahir, “Real-Time In-Situ Defect Detection via Multi-Modal Waveform Classification for Wire Arc Additive Manufacturing”, Intelligent Manufacturing, 2025.

• Samanipour; P.; Poonawala, H.A.;, “Invariant Set Estimation for Piecewise Affine Dynamical Systems Using Piecewise Affine Barrier Function”, European Journal of Control, 2025, (arXiv).

• Clark, B.; Poonawala, H.A.;, “A Monotonicity Framework for Stability Verification of Planar Path-Following Controllers”, IEEE Control Systems Letters, 2024, (Pre-print).

• Clark, B.; Schoop, J.; Poonawala, H.A.;, “Digital Process Twins- A Modular Approach for Surface Conditioning and Process Optimization”, Production Engineering, 2023.

• Samanipour; P.; Poonawala, H.A.;, “Stability analysis and control using single-hidden-layer ReLU neural networks”, IEEE Transactions on Automatic Control, 2023, (Pre-print).

• Thom S. Badings, Licio Romao, Alessandro Abate, David Parker, Hasan A. Poonawala, Mariëlle Stoelinga, Nils Jansen, “Robust Control for Dynamical Systems with Non-Gaussian Noise via Formal Abstractions”, J. Artif. Intell. Res., 2023.

• Fugal, J.; Bae, J.; Poonawala, H.A.;, “On the impact of gravity compensation on reinforcement learning in goal-reaching tasks for robotic manipulators.”, Journal of Robotics, 2021.

• Poonawala, H.A.; Lauffer, N.;Topcu, U.;, “Training Classifiers For Feedback Control With Safety In Mind”, Automatica, 2021, (Pre-print).

• Schoop, J.; Poonawala, H.A.; Adeniji, D.; Clark, B.;, “AI-enabled Dynamic Finish Machining Optimization for Sustained Surface Integrity”, Manufacturing Letters, 2021.

• Poonawala, H.A.;, “Stability Analysis of Conewise Affine Dynamical Systems Using Conewise Linear Lyapunov Functions”, Letters of the Control Systems Society, 2021, (Pre-print).

• Poonawala, H.A.; Spong, M.W,, “Time-optimal Velocity Tracking Control of Differential Drive Robots”, Automatica, 2017, (arXiv).

• Poonawala, H.A.; Spong, M.W, “Preserving Strong Connectivity in Directed Proximity Graphs”, Automatic Control, IEEE Transactions on, 2017, (Pre-print).

• Poonawala, H.A.; Spong, M.W,, “Cooperative Visibility Maintenance in SE(3) for Multi-Robot-Networks with Limited Field-of-View Sensors”, Control Theory and Technology, 2017.

• Villareal, D.; Poonawala, H.A; Gregg, R., “A Robust Parameterization of Human Gait Patterns Across Phase-Shifting Perturbations”, Neural Systems & Rehabilitation Engineering, IEEE Transactions on, 2016.

• Poonawala, H.A.; Satici, A.C.; Eckert, H.; Spong, M.W,, “Collision-Free Formation Control with Decentralized Connectivity Preservation for Nonholonomic-Wheeled Mobile Robots”, Networked Control Systems, IEEE Transactions on, 2014, (Pre-print).

• Satici, A.C.; Poonawala, H.A.; Spong, M.W,, “Robust Optimal Control of Quadrotor UAVs”, IEEE Access, 2013, (Pre-print).

Conference:

• Christopher Dagher, Aykut C. Satici, Hasan A. Poonawala, “Guided Policy Search to Stabilize Contact Motion Plans for Robotic Manipulation”, IFAC Modeling, Estimation and Control Conference, 2024.

• Samanipour; P.; Poonawala, H.A.;, “Automated Stability Analysis of Piecewise Affine Dynamics Using Vertices”, Allerton Conference, 2023, (Pre-print), (arXiv).

• Clark, B.; Hariprasad, V.; Poonawala, H.A.;, “Provably Correct Sensor-driven Path-following for Unicycles using Monotonic Score Functions”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, (arXiv).

• Thom S. Badings Alessandro Abate; Nils Jansen; David Parker; Hasan A. Poonawala; and Marielle Stoelinga;, “Sampling-Based Robust Control of Autonomous Systems with Non-Gaussian Noise”, AAAI Conference on Artificial Intelligence, 2022.

• Poonawala, H.A., “Stability Analysis Via Refinement Of Piece-wise Linear Lyapunov Functions”, IEEE Conference on Decision and Control (CDC), 2019, (Pre-print).

• Poonawala, H.A.; Lauffer, N.; Topcu, U., “Training Classifiers For Feedback Control”, American Control Conference (ACC), 2019, (arXiv).

• Bharadwaj, S.; Carr, S; Neogi, N.; Poonawala, H.A.; Chueca, A.B.; Topcu, U., “Traffic Management for Urban Air Mobility Applications”, NASA Formal Methods Conference, 2019.

• Poonawala, H.A.; Topcu, U, “Robustness of Classifier-in-the-Loop Control Systems- A Hybrid-Systems Approach”, IEEE Conference on Decision and Control (CDC), 2017, (Pre-print).

• Poonawala, H.A.; Spong, M.W,, “On Maintaining Visibility in Multi-Robot-Networks with Limited Field-of-View Sensors”, American Control Conference (ACC), 2017, (Pre-print).

• Poonawala, H.A.; Alshiekh, M.; Niekum, S; .Topcu, U., “Classification Error Correction- A Case Study in Brain-Computer Interfacing”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, (Pre-print).

• Cubuktepe, M.; Jansen, Nils; Junges, S.; Katoen, J-P.; Papusha, I.; Poonawala, H.A.; Topcu, U, “Sequential Convex Programming for the Efficient Verification of Parametric MDPs”, TACAS, 2017, (arXiv).

• Poonawala, H.A.; Topcu, U., “Filter-Based Stochastic Abstractions for Constrained Planning with Limited Sensing”, IEEE Conference on Decision and Control (CDC), 2016, (Pre-print).

• Poonawala, H.A.; Spong, M.W,, “From nonholonomy to holonomy- Time-optimal velocity control of differential drive robots”, Robot Motion and Control (RoMoCo), 2015, (Pre-print).

• Poonawala, H.A.; Spong, M.W,, “Decentralized estimation of the algebraic connectivity of strongly connected digraphs”, American Control Conference (ACC), 2015, (Pre-print).

• Poonawala, H.A.; Satici, A.C.; Spong, M.W,, “Leader-follower Formation Control Of Nonholonomic Wheeled Mobile Robots Using Only Position Measurements”, Asian Control Conference (ASCC), 2013, (Pre-print).

• Satici, A.C.; Poonawala, H.A.; Eckert, H.; Spong, M.W,, “Connectivity Preserving Formation Control with Collision Avoidance for Nonholonomic Wheeled Mobile Robots”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, (Pre-print).

• Poonawala, H.A.; Satici, A.C.; Gans, N.; Spong, M.W., “Formation control of wheeled robots with vision-based position measurement”, American Control Conference (ACC), 2012, (Pre-print).