publications | Reliable Intelligent Systems Lab

2026

JAIR

Backward Monte Carlo Tree Search: Charting Unsafe Regions in the Belief-Space

Anil Yildiz, Esen Yel, Marcell Vazquez-Chanlatte, and 3 more authors

Journal of Artificial Intelligence Research, 2026

@article{yildiz2026backward,
  title = {Backward Monte Carlo Tree Search: Charting Unsafe Regions in the Belief-Space},
  author = {Yildiz, Anil and Yel, Esen and Vazquez-Chanlatte, Marcell and Wray, Kyle and Kochenderfer, Mykel J and Witwicki, Stefan J},
  journal = {Journal of Artificial Intelligence Research},
  volume = {85},
  year = {2026}
}

2025

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

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

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},
}

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},
}

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

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},
}

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},
}

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},
}

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

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

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},
}

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},
}

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

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

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},
}

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

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},
}