Chen, B., Leahy, K., Jones, A., and Hale, M. “Differential Privacy for Symbolic Systems with Application to Markov Chains.” Automatica, 152, 2023.
Cohen, M., Serlin, Z., Leahy, K., and Belta, C. “Temporal Logic Guided Safe Model-Based Reinforcement Learning: A Hybrid Systems Approach.” Nonlinear Analysis: Hybrid Systems, 47, 2023.
Yazdani, K., Jones, A., Leahy, K., and Hale, M. “Differentially Private LQ Control.” IEEE Transactions on Automatic Control, 68(2):1061-1068, 2023.
Cai, M., Leahy, K., Serlin, Z., and Vasile, C.-I. “Probabilistic Coordination of Heterogeneous Teams from Capability Temporal Logic Specifications.” IEEE Robotics and Automation Letters, 7(2):1190–1197, 2022.
Leahy, K., Jones, A., and Vasile, C.-I. “Fast Decomposition of Temporal Logic Specifications for Heterogeneous Teams.” IEEE Robotics and Automation Letters, 7(2):2297–2304, 2022.
Leahy, K., Serlin, Z., Vasile, C.-I., Schoer, A., Jones, A., Tron, R., and Belta, C. “Scalable and Robust Algorithms for Task-based Coordination from High-level Specifications (ScRATCHeS)” IEEE Transactions on Robotics, 38(4):2516-2535, 2022.
Leahy, K., Cristofalo, E., Vasile, C.-I., Jones, A., Montijano, E., Schwager, M., and Belta, C. “Control in Belief Space with Temporal Logic Specifications using Vision-based Localization.” International Journal of Robotics Research, 38(6): 702–722, 2019.
Leahy, K., and Schwager, M. “Tracking a Markov Target in a Discrete Environment with Multiple Sensors.” IEEE Transactions on Automatic Control, 64(6): 2396– 2411, 2018.
Leahy, K., Zhou, D., Vasile, C.-I., Oikonomopoulos, K., Schwager, M., and Belta, C.“Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging and Temporal Logic Constraints.” Autonomous Robots, 40(8): 1363–1378, 2016.
Conference
Leahy, K., Mann, M., and Serlin, Z. “Run-Time Task Composition with Safety Semantics.” Under Review.
Cohen, M., Mann, M., Leahy, K., and Belta, C. “Uncertainty Quantification for Recursive Estimation in Adaptive Safety-Critical Control.” In American Control Conference (ACC), Toronto, Canada, 2024.
Siu, H., Leahy, K., and Mann, M. “STL: Surprisingly Tricky Logic (for System Validation).” In Proc. of the International Conference on Intelligent Robots and Systems (IROS), Detroit, Michigan, 2023.
Liu, W., Leahy, K., Serlin, Z., and Belta, C. “CatlNet: Learning Communication and Coordination Policies from CaTL+ Specifications.” In 5th Annual Learning for Dynamics & Control Conference (L4DC), Pennsylvania, United States, 2023.
Forsey-Smerek, A., Siu, H., and Leahy, K. “Centralized Multi-Agent Synthesis with Spatial Constraints via Mixed-Integer Quadratic Programming.” In NASA Formal Methods, Texas, United States, 2023.
Leahy, K., Mann, M., and Vasile, C.-I. “Rewrite-Based Decomposition of Signal Temporal Logic Specifications.” In NASA Formal Methods, Texas, United States, 2023.
Liu, W., Leahy, K., Serlin, Z., and Belta, C. “Robust Multi-Agent Coordination from CaTL+ Specifications.” In American Control Conference (ACC), California, United States, 2023.
Cai, M. Mann, M., Serlin, Z., Leahy, K., and Vasile, C.-I. “Learning Minimally-Violating Continuous Control for Infeasible Linear Temporal Logic Specifications.” In American Control Conference (ACC), California, United States, 2023
Cardona, G., Leahy, K., and Vasile, C.-I. “Temporal Logic Swarm Control with Splitting and Merging.” In IEEE International Conference on Robotics and Automation (ICRA), London, UK, 2023.
Vaska, N., Leahy, K., and Helus, V. “Context-Dependent Anomaly Detection with Knowledge Graph Embedding Models.” In IEEE International Conference on Automation Science and Engineering (CASE), Mexico City, Mexico, August 2022.
Jones, A., Leahy, K., Vasile, C.-I., Sadraddini, S., Serlin, Z., Tron, R., and Belta, C. “ScRATCHS: Scalable and Robust Algorithms for Task-based Coordination from High-level Specifications.” In Proc. of the International Symposium on Robotics Research (ISRR 10), Hanoi, Vietnam, October 2019.
Jones, A., Leahy, K., and Hale, M. “Towards Differential Privacy for Symbolic Systems.” In Proc. of the American Control Conference (ACC), Philadelphia, Pennsylvania, 2019.
Serlin, Z., Leahy, K., Tron, R., and Belta, C. “Distributed Sensing Subject to Temporal Logic Constraints.” In Proc. of the International Conference on Intelligent Robots and Systems (IROS), Melbourne, Australia, 2018.
Hale, M., Jones, A., and Leahy, K. “Privacy in Feedback: The Differentially Private LQG.” In Proc. of the American Control Conference (ACC), Milwuakee, Wisconsin, 2018.
Leahy, K., Aksaray, D., and Belta, C. “Informative Path Planning under Temporal Logic Constraints with Performance Guarantees”, In Proc. of the American Control Conference (ACC), Seattle, Washington, 2017.
Haghighi, I., Leahy, K., Ivison, R., and Belta, C. “Semi-supervised Pattern Synthesis in Spatially Distributed Dynamical Systems”, In Proc. of the American Control Conference (ACC), Seattle, Washington, 2017.
Vasile, C.-I., Leahy, K., Cristofalo, E., Jones, A., Schwager, M. and Belta, C. “Control in Belief Space with Temporal Logic Specifications”, In Proc. of the IEEE Conference on Decision and Control (CDC), Las Vegas, Nevada, 2016.
Cristofalo, E., Leahy, K., Vasile, C.-I., Montijano, E., Schwager, M. and Belta, C. “Localization of a Ground Robot by Aerial Robots for GPS-deprived Control with Temporal Logic Constraints.” In Proc. of the International Symposium on Experimental Robotics (ISER 16), Tokyo, Japan, 2016.
Leahy, K., and Schwager, M. “Always Choose Second Best: Tracking a Moving Target on a Graph with a Noisy Binary Sensor”, In Proc. of the European Control Conference (ECC), Aalborg, Denmark, 2016.
Leahy, K., Kannappan, P., Jardine, A., Tanner, H., Heinz, J., and Belta, C. “Integration of Deterministic Inference with Formal Synthesis for Control under Uncertainty”. In Proc. of the American Control Conference (ACC), Boston, Massachusetts, 2016.
Leahy, K., Jones, A., Schwager, M., and Belta, C. “Distributed Information Gathering Policies under Temporal Logic Constraints”, In Proc. of the IEEE Conference on Decision and Control (CDC), Osaka, Japan, 2015.
Aksaray, D., Leahy, K., and Belta, C. “Distributed Multi-Agent Persistent Surveillance Under Temporal Logic Constraints”, 5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, Philadelphia, USA, 2015.
Svoreňová, M., Chmelík, M., Leahy, K., Ferit Eniser, H., Chatterjee, K., Černá, I., and Belta, C. “Temporal Logic Motion Planning using POMDPs with Parity Objectives”, Hybrid Systems: Computation and Control (HSCC) 2015
Leahy, K., Zhou, D., Vasile, C.-I., Oikonomopoulos, K., Schwager, M., and Belta, C. “Provable correct persistent surveillance for unmanned aerial vehicles subject to charging constraints.” In Proc. of the International Symposium on Experimental Robotics (ISER 14), Marrakech, Morocco, June 2014.