publications

2025

1. CoDIT

   Entropy-regularized Point-based Value Iteration

   Harrison Delecki, Marcell Vazquez-Chanlatte, Esen Yel, and 4 more authors

   2025

   Bib

   @article{delecki2025entropy,
     title = {Entropy-regularized Point-based Value Iteration},
     author = {Delecki, Harrison and Vazquez-Chanlatte, Marcell and Yel, Esen and Wray, Kyle and Arnon, Tomer and Witwicki, Stefan and Kochenderfer, Mykel J},
     booktitle = {International Conference on Control, Decision and Information Technologies (CoDIT) (to appear)},
     year = {2025},
   }

2024

1. IV

   Predicting Future Spatiotemporal Occupancy Grids with Semantics for Autonomous Driving

   Maneekwan Toyungyernsub, Esen Yel, Jiachen Li, and 1 more author

   In IEEE Intelligent Vehicles Symposium (IV), 2024

   DOI arXiv Bib

   @inproceedings{toyungyernsub2024predicting,
     title = {Predicting Future Spatiotemporal Occupancy Grids with Semantics for Autonomous Driving},
     author = {Toyungyernsub, Maneekwan and Yel, Esen and Li, Jiachen and Kochenderfer, Mykel J},
     booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
     pages = {2855--2861},
     year = {2024},
     doi = {10.1109/IV55156.2024.10588710},
   }

2023

1. DASC

   Efficient Determination of Safety Requirements for Perception Systems

   Sydney M Katz, Anthony L Corso, Esen Yel, and 1 more author

   In IEEE/AIAA 42nd Digital Avionics Systems Conference (DASC), 2023

   DOI arXiv Bib

   @inproceedings{katz2023efficient,
     title = {Efficient Determination of Safety Requirements for Perception Systems},
     author = {Katz, Sydney M and Corso, Anthony L and Yel, Esen and Kochenderfer, Mykel J},
     booktitle = {IEEE/AIAA 42nd Digital Avionics Systems Conference (DASC)},
     pages = {1--10},
     year = {2023},
     doi = {10.1109/DASC58513.2023.10311157},
   }

2. IV

   Experience Filter: Using Past Experiences on Unseen Tasks or Environments

   Anil Yildiz, Esen Yel, Anthony L Corso, and 3 more authors

   In IEEE Intelligent Vehicles Symposium (IV), 2023

   DOI arXiv Bib

   @inproceedings{yildiz2023experience,
     title = {Experience Filter: Using Past Experiences on Unseen Tasks or Environments},
     author = {Yildiz, Anil and Yel, Esen and Corso, Anthony L and Wray, Kyle H and Witwicki, Stefan J and Kochenderfer, Mykel J},
     booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
     pages = {1--7},
     year = {2023},
     doi = {10.1109/IV55152.2023.10186722},
   }

3. OJ-CSYS

   Backward reachability analysis of neural feedback loops: Techniques for linear and nonlinear systems

   Nicholas Rober, Sydney M Katz, Chelsea Sidrane, and 4 more authors

   IEEE Open Journal of Control Systems, 2023

   DOI arXiv Bib

   @article{rober2023backward,
     title = {Backward reachability analysis of neural feedback loops: Techniques for linear and nonlinear systems},
     author = {Rober, Nicholas and Katz, Sydney M and Sidrane, Chelsea and Yel, Esen and Everett, Michael and Kochenderfer, Mykel J and How, Jonathan P},
     journal = {IEEE Open Journal of Control Systems},
     volume = {2},
     pages = {108--124},
     year = {2023},
     doi = {10.1109/OJCSYS.2023.3265901},
   }

2022

1. IROS

   Dynamics-aware spatiotemporal occupancy prediction in urban environments

   Maneekwan Toyungyernsub, Esen Yel, Jiachen Li, and 1 more author

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

   DOI arXiv Bib

   @inproceedings{toyungyernsub2022dynamics,
     title = {Dynamics-aware spatiotemporal occupancy prediction in urban environments},
     author = {Toyungyernsub, Maneekwan and Yel, Esen and Li, Jiachen and Kochenderfer, Mykel J},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {10836--10841},
     year = {2022},
     doi = {10.1109/IROS47612.2022.9981323},
   }

2. IROS

   Learning enabled fast planning and control in dynamic environments with intermittent information

   Matthew Cleaveland, Esen Yel, Yiannis Kantaros, and 2 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

   DOI arXiv Bib

   @inproceedings{cleaveland2022learning,
     title = {Learning enabled fast planning and control in dynamic environments with intermittent information},
     author = {Cleaveland, Matthew and Yel, Esen and Kantaros, Yiannis and Lee, Insup and Bezzo, Nicola},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {10290--10296},
     year = {2022},
     doi = {10.1109/IROS47612.2022.9981508},
   }

3. ITSC

   Uncertainty-aware online merge planning with learned driver behavior

   Liam A Kruse, Esen Yel, Ransalu Senanayake, and 1 more author

   In IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), 2022

   DOI arXiv Bib

   @inproceedings{kruse2022uncertainty,
     title = {Uncertainty-aware online merge planning with learned driver behavior},
     author = {Kruse, Liam A and Yel, Esen and Senanayake, Ransalu and Kochenderfer, Mykel J},
     booktitle = {IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)},
     pages = {1202--1207},
     year = {2022},
     doi = {10.1109/ITSC55140.2022.9921831},
   }

4. RA-L

   Meta-learning-based proactive online planning for uavs under degraded conditions

   Esen Yel, Shijie Gao, and Nicola Bezzo

   Robotics and Automation Letters, 2022

   DOI Bib

   @article{yel2022meta,
     title = {Meta-learning-based proactive online planning for uavs under degraded conditions},
     author = {Yel, Esen and Gao, Shijie and Bezzo, Nicola},
     journal = {Robotics and Automation Letters},
     volume = {7},
     number = {4},
     pages = {10320--10327},
     year = {2022},
     publisher = {IEEE},
     doi = {10.1109/LRA.2022.3191792},
   }

2021

1. IROS

   A meta-learning-based trajectory tracking framework for UAVs under degraded conditions

   Esen Yel and Nicola Bezzo

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

   DOI arXiv Bib

   @inproceedings{yel2021meta,
     title = {A meta-learning-based trajectory tracking framework for UAVs under degraded conditions},
     author = {Yel, Esen and Bezzo, Nicola},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {6884--6890},
     year = {2021},
     doi = {10.1109/IROS51168.2021.9635918},
   }

2020

1. JINT

   Computation-aware adaptive planning and scheduling for safe unmanned airborne operations

   Esen Yel, Tony X Lin, and Nicola Bezzo

   Journal of Intelligent & Robotic Systems, 2020

   DOI Bib

   @article{yel2020computation,
     title = {Computation-aware adaptive planning and scheduling for safe unmanned airborne operations},
     author = {Yel, Esen and Lin, Tony X and Bezzo, Nicola},
     journal = {Journal of Intelligent \& Robotic Systems},
     volume = {100},
     number = {2},
     pages = {575--596},
     year = {2020},
     publisher = {Springer},
     doi = {https://doi.org/10.1007/s10846-020-01192-2},
   }

2. RA-M

   Assured runtime monitoring and planning: Toward verification of neural networks for safe autonomous operations

   Esen Yel, Taylor J Carpenter, Carmelo Di Franco, and 5 more authors

   IEEE Robotics & Automation Magazine, 2020

   DOI Bib

   @article{yel2020assured,
     title = {Assured runtime monitoring and planning: Toward verification of neural networks for safe autonomous operations},
     author = {Yel, Esen and Carpenter, Taylor J and Di Franco, Carmelo and Ivanov, Radoslav and Kantaros, Yiannis and Lee, Insup and Weimer, James and Bezzo, Nicola},
     journal = {IEEE Robotics \& Automation Magazine},
     volume = {27},
     number = {2},
     pages = {102--116},
     year = {2020},
     doi = {10.1109/MRA.2020.2981114},
   }

3. IROS

   Gp-based runtime planning, learning, and recovery for safe UAV operations under unforeseen disturbances

   Esen Yel and Nicola Bezzo

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

   DOI Bib

   @inproceedings{yel2020gp,
     title = {Gp-based runtime planning, learning, and recovery for safe UAV operations under unforeseen disturbances},
     author = {Yel, Esen and Bezzo, Nicola},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {2173--2180},
     year = {2020},
     doi = {10.1109/IROS45743.2020.9341641},
   }

2019

1. IROS

   Fast run-time monitoring, replanning, and recovery for safe autonomous system operations

   Esen Yel and Nicola Bezzo

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019

   DOI Bib

   @inproceedings{yel2019fast,
     title = {Fast run-time monitoring, replanning, and recovery for safe autonomous system operations},
     author = {Yel, Esen and Bezzo, Nicola},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {1661--1667},
     year = {2019},
     doi = {10.1109/IROS40897.2019.8968498},
   }

2018

1. ACC

   Energy-aware Persistent Control of Heterogeneous Robotic Systems

   Tony X. Lin, Esen Yel, and Nicola Bezzo

   In Annual American Control Conference (ACC), 2018

   DOI Bib

   @inproceedings{lin2018energy,
     author = {Lin, Tony X. and Yel, Esen and Bezzo, Nicola},
     booktitle = {Annual American Control Conference (ACC)},
     title = {Energy-aware Persistent Control of Heterogeneous Robotic Systems},
     year = {2018},
     volume = {},
     number = {},
     pages = {2782-2787},
     keywords = {Task analysis;Robot kinematics;Safety;Land vehicles;Vehicle dynamics;Stability analysis},
     doi = {10.23919/ACC.2018.8431238},
   }

2. ICRA

   Self-triggered adaptive planning and scheduling of UAV operations

   Esen Yel, Tony X Lin, and Nicola Bezzo

   In IEEE international conference on robotics and automation (ICRA), 2018

   DOI Bib

   @inproceedings{yel2018self,
     title = {Self-triggered adaptive planning and scheduling of UAV operations},
     author = {Yel, Esen and Lin, Tony X and Bezzo, Nicola},
     booktitle = {IEEE international conference on robotics and automation (ICRA)},
     pages = {7518--7524},
     year = {2018},
     doi = {10.1109/ICRA.2018.8463205},
   }

2017

1. AHS

   Reachability-based self-triggered scheduling and replanning of UAV operations

   Esen Yel, Tony X Lin, and Nicola Bezzo

   In NASA/ESA Conference on Adaptive Hardware and Systems (AHS), 2017

   DOI Bib

   @inproceedings{yel2017reachability,
     title = {Reachability-based self-triggered scheduling and replanning of UAV operations},
     author = {Yel, Esen and Lin, Tony X and Bezzo, Nicola},
     booktitle = {NASA/ESA Conference on Adaptive Hardware and Systems (AHS)},
     pages = {221--228},
     year = {2017},
     doi = {10.1109/AHS.2017.8046382},
   }