publications.html

<!DOCTYPE HTML>
<html lang="en">
<head>
  <meta http-equiv="Content-Type" content="text/html; charset=UTF-8">

  <!-- Google tag (gtag.js) -->
  <script async src="https://www.googletagmanager.com/gtag/js?id=G-KFDW0RJJ85"></script>
  <script>
    window.dataLayer = window.dataLayer || [];
    function gtag(){dataLayer.push(arguments);}
    gtag('js', new Date());

    gtag('config', 'G-KFDW0RJJ85');
  </script>

<title>Publications | Hassan Almubarak and CORTx Lab</title>
<meta name="description" content="Publications by Hassan Almubarak and the CORTx Lab on safety-critical control, barrier states, model predictive control, adaptive control, robotics, and autonomous systems.">

  <meta name="author" content="Hassan Almubarak">
  <meta name="viewport" content="width=device-width, initial-scale=1">

  <link rel="preconnect" href="https://fonts.gstatic.com">
  <link href="https://fonts.googleapis.com/css2?family=Open+Sans:ital,wght@0,300;0,400;0,500;0,600;0,700;1,300;1,400;1,500;1,600;1,700&display=swap" rel="stylesheet">

  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/4.7.0/css/font-awesome.min.css">
  <link rel="stylesheet" type="text/css" href="stylesheet.css">
  <link rel="icon" type="image/png" href="images/squared.png">
    <link rel="canonical" href="https://cortx-lab.github.io/publications.html">
  <style>
    .page-title {
      font-size: 34px;
      font-weight: 700;
      color: #0B3041;
      margin-bottom: 12px;
    }

    .page-intro {
      font-size: 17px;
      line-height: 1.8;
      margin-bottom: 18px;
    }

    .top-links {
      margin-top: 8px;
      margin-bottom: 28px;
    }

    .top-btn {
      display: inline-block;
      padding: 10px 14px;
      margin: 0 10px 10px 0;
      border-radius: 8px;
      border: 1px solid #0B3041;
      background: white;
      color: #0B3041;
      font-size: 15px;
      font-weight: 600;
      text-decoration: none;
      transition: all 0.2s ease;
    }

    .top-btn:hover {
      background: #0B3041;
      color: white;
    }

    .year-heading {
      font-size: 28px;
      font-weight: 700;
      color: #0B3041;
      margin-top: 28px;
      margin-bottom: 14px;
      border-bottom: 1px solid #d9d9d9;
      padding-bottom: 8px;
    }

    .pub-item {
      border-left: 3px solid #275317;
      padding: 6px 0 16px 18px;
      margin-bottom: 18px;
    }

    .pub-title {
      font-size: 21px;
      font-weight: 700;
      color: #111111;
      line-height: 1.5;
      margin-bottom: 6px;
    }

    .pub-authors {
      font-size: 16px;
      line-height: 1.7;
      margin-bottom: 4px;
    }

    .pub-venue {
      font-size: 16px;
      color: #333333;
      line-height: 1.7;
      margin-bottom: 8px;
    }

    .pub-note {
      font-size: 15px;
      line-height: 1.7;
      color: #444444;
      margin-bottom: 10px;
    }

    .pub-links a {
      display: inline-block;
      padding: 7px 12px;
      margin: 0 8px 8px 0;
      border-radius: 999px;
      border: 1px solid #cfd8dc;
      background: #f7fafb;
      color: #0B3041;
      font-size: 14px;
      font-weight: 600;
      text-decoration: none;
      transition: all 0.2s ease;
    }

    .pub-links a:hover {
      border-color: #0B3041;
      background: #eef4f7;
    }

    .pub-links .placeholder-link {
      color: #777777;
      border-style: dashed;
    }

    .pub-links .placeholder-link:hover {
      color: #777777;
      border-color: #cfd8dc;
      background: #f7fafb;
      cursor: default;
    }

    .small-note {
      font-size: 15px;
      line-height: 1.8;
      color: #555555;
      margin-top: 24px;
      padding: 14px 16px;
      background: #f8fbf7;
      border-left: 4px solid #275317;
    }

    @media screen and (max-width: 900px) {
      .page-title {
        font-size: 30px;
      }

      .year-heading {
        font-size: 24px;
      }

      .pub-title {
        font-size: 19px;
      }
    }
  </style>
</head>

<!-- NAVIGATION -->
<div class="header" style="width:100%;max-width:900px;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;padding-bottom:0px">
  <a href="index.html" class="logo" style="color:black;font-size:18px; padding-top:30px">
    <img src="images/blue_green_ver.png" height="120" data-keep-image="true" alt="CORTx logo">
  </a>
  <div class="header-right" style="padding-top:50px;">
    <a href="index.html" style="font-size: 23px; color:#0B3041">Home</a>
    <a href="people.html" style="font-size: 23px; color:#0B3041">People</a>
    <a href="research.html" style="font-size: 23px; color:#0B3041">Research</a>
    <a href="publications.html" style="font-size: 23px; color:#0B3041">Publications</a>
    <a href="join.html" style="font-size: 23px; color:#0B3041">Join</a>
    <br>
    <div class="header-right" style="padding-top:0px;">
      <a href="https://github.com/CORTx-Lab"><i class="fa fa-github" style="font-size:28px;color:#275317;"></i></a>
    </div>
  </div>
</div>

<body>
  <table style="width:100%;max-width:900px;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
    <tbody>
      <tr>
        <td style="padding:20px">
          <div class="page-title">Publications</div>

<!--          <p class="page-intro">-->
<!--            Our publications span safety-critical control, model predictive control, robust and adaptive control, trajectory optimization, and autonomy for robotics and mobility systems.-->
<!--          </p>-->

          <p class="page-intro">
            For the most up-to-date list, check out <a href="https://scholar.google.com/citations?hl=en&user=QGsFCTsAAAAJ">Google Scholar</a>.
          </p>

<!--          <div class="top-links">-->
<!--            <a class="top-btn" href="https://scholar.google.com/citations?hl=en&user=QGsFCTsAAAAJ">-->
<!--              <i class="fa fa-graduation-cap" aria-hidden="true"></i> Google Scholar-->
<!--            </a>-->
<!--            <a class="top-btn" href="https://cie.kfupm.edu.sa/people/faculty/dr-hassan-al-mubarak/">-->
<!--              <i class="fa fa-university" aria-hidden="true"></i> KFUPM Profile-->
<!--            </a>-->
<!--          </div>-->

          <!-- 2026 -->
         <div class="year-heading">2026</div>
         <div class="pub-item">
            <div class="pub-title">Barrier-Riccati Synthesis for Nonlinear Safe Control with Expanded Region of Attraction</div>
            <div class="pub-authors">Hassan Almubarak, Maitham F. AL-Sunni, Justin T. Dubbin, Nader Sadegh, John M. Dolan, Evangelos A. Theodorou</div>
            <div class="pub-venue"><i>American Control Conference (ACC)</i>, 2026</div>
            <div class="pub-note">
<!--              Riccati-based framework for nonlinear safety-critical control integrating barrier states with SDRE synthesis.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2504.15453">arXiv</a>
              <a class="https://doi.org/10.23919/ACC--------">DOI</a>
            </div>
          </div>

          <!-- 2025 -->
          <div class="year-heading">2025</div>

          <div class="pub-item">
            <div class="pub-title">LLA-MPC: Fast Adaptive Control for Autonomous Racing</div>
            <div class="pub-authors">Maitham F. AL-Sunni, Hassan Almubarak, Katherine Horng, John M. Dolan</div>
            <div class="pub-venue"><i>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, 2025</div>
            <div class="pub-note">
<!--              Adaptive MPC for autonomous racing with rapid adaptation to changing tire-surface interactions and friction conditions.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2505.19512">arXiv</a>
              <a href="https://ieeexplore.ieee.org/abstract/document/11246261/">IEEE Xplore</a>
              <a href="https://github.com/DRIVE-LAB-CMU/LLA-MPC">Code</a>
            </div>
          </div>

          <div class="pub-item">
            <div class="pub-title">Barrier States Theory for Safety-Critical Multi-Objective Control</div>
            <div class="pub-authors">Hassan Almubarak, Nader Sadegh, Evangelos A. Theodorou</div>
            <div class="pub-venue"><i>IEEE Transactions on Automatic Control</i>, 2025, pp. 8149-8164</div>
            <div class="pub-note">
<!--              General barrier state theory for safety-critical multi-objective control, including robust safety notions and broad controller integrations.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2310.07022">arXiv</a>
              <a href="https://doi.org/10.1109/TAC.2025.3584908">DOI</a>
              <a href="https://github.com/CORTx-Lab/barrier-states-matlab">Code (MATLAB Toolbox)</a>
              <a href="https://github.com/CORTx-Lab/barrier-states-python">Code (Python Package)</a>
            </div>
          </div>

          <div class="pub-item">
            <div class="pub-title">Safety Embedded Adaptive Control Using Barrier States</div>
            <div class="pub-authors">Maitham F. AL-Sunni, Hassan Almubarak, John M. Dolan</div>
            <div class="pub-venue"><i>American Control Conference (ACC)</i>, 2025, pp. 303-308</div>
            <div class="pub-note">
<!--              Safe adaptive nonlinear control using barrier states for systems with parametric uncertainty.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2504.15423">arXiv</a>
              <a href="https://doi.org/10.23919/ACC63710.2025.11107832">DOI</a>
            </div>
          </div>

          <!-- 2024 -->
          <div class="year-heading">2024</div>

          <div class="pub-item">
            <div class="pub-title">Differentiable Robust Model Predictive Control</div>
            <div class="pub-authors">Alex Oshin, Hassan Almubarak, Evangelos A. Theodorou</div>
            <div class="pub-venue"><i>Robotics: Science and Systems (RSS)</i>, 2024</div>
            <div class="pub-note">
<!--              Differentiable tube-based MPC framework for robust, safe control and online adaptation of controller and safety parameters.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2308.08426">arXiv</a>
              <a href="https://roboticsconference.org/2024/program/papers/3/">RSS</a>
            </div>
          </div>

          <!-- 2023 -->
          <div class="year-heading">2023</div>

          <div class="pub-item">
            <div class="pub-title">Safe Importance Sampling in Model Predictive Path Integral Control</div>
            <div class="pub-authors">Manan Gandhi, Hassan Almubarak, Evangelos A. Theodorou</div>
            <div class="pub-venue"><i>Preprint</i>, 2023</div>
            <div class="pub-note">
<!--              Safety-controlled MPPI using embedded barrier state feedback to improve sample efficiency and safe exploration.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2303.03441">arXiv</a>
            </div>
          </div>

          <div class="pub-item">
            <div class="pub-title">Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States</div>
            <div class="pub-authors">Joshua E. Kuperman, Hassan Almubarak, Augustinos D. Saravanos, Evangelos A. Theodorou</div>
            <div class="pub-venue"><i>21st International Conference on Advanced Robotics (ICAR)</i>, 2023, pp. 183-190</div>
            <div class="pub-note">
<!--              Tolerant barrier state trajectory optimization for improved exploration while retaining strong safety structure.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2303.03360">arXiv</a>
              <a href="https://doi.org/10.1109/ICAR58858.2023.10406518">DOI</a>
            </div>
          </div>

          <div class="pub-item">
            <div class="pub-title">L1 Adaptive Control of Constrained Systems Using Barrier States</div>
            <div class="pub-authors">Christoph Aoun, Pan Zhao, Hassan Almubarak, Naira Hovakimyan, Evangelos A. Theodorou</div>
            <div class="pub-venue"><i>AIAA SciTech Forum</i>, 2023</div>
            <div class="pub-note">
<!--              Integrated barrier state and L1 adaptive control architecture for constrained systems with uncertainties.-->
            </div>
            <div class="pub-links">
              <a href="https://doi.org/10.2514/6.2023-1051">DOI</a>
            </div>
          </div>

          <!-- 2022 -->
          <div class="year-heading">2022</div>

          <div class="pub-item">
            <div class="pub-title">Gaussian Process Barrier States for Safe Trajectory Optimization and Control</div>
            <div class="pub-authors">Hassan Almubarak, Manan Gandhi, Yuichiro Aoyama, Nader Sadegh, Evangelos A. Theodorou</div>
            <div class="pub-venue"><i>Preprint</i>, 2022</div>
            <div class="pub-note">
<!--              Data-driven safe control and trajectory optimization using Gaussian processes integrated with barrier states.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2212.00268">arXiv</a>
            </div>
          </div>

          <div class="pub-item">
            <div class="pub-title">Barrier States Embedded Iterative Dynamic Game for Robust and Safe Trajectory Optimization</div>
            <div class="pub-authors">Hassan Almubarak, Evangelos A. Theodorou, Nader Sadegh</div>
            <div class="pub-venue"><i>American Control Conference (ACC)</i>, 2022, pp. 5166-5172</div>
            <div class="pub-note">
<!--              Game-theoritic min-max differential dynamic programming with barrier states for robust and safe trajectory optimization.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2111.02979">arXiv</a>
              <a href="https://doi.org/10.23919/ACC53348.2022.9867501">DOI</a>
            </div>
          </div>

          <div class="pub-item">
            <div class="pub-title">Safety Embedded Differential Dynamic Programming Using Discrete Barrier States</div>
            <div class="pub-authors">Hassan Almubarak, Kyle Stachowicz, Nader Sadegh, Evangelos A. Theodorou</div>
            <div class="pub-venue"><i>IEEE Robotics and Automation Letters (RA-L)</i>, 2022</div>
            <div class="pub-venue"><i>39th IEEE International Conference on Robotics and Automation (ICRA)</i>, 2022</div>
            <div class="pub-note">
<!--              Discrete barrier state trajectory optimization for safe nonlinear control and planning.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2105.14608">arXiv</a>
              <a href="https://doi.org/10.1109/LRA.2022.3143301">DOI</a>
              <a href="https://github.com/CORTx-Lab/barrier-states-matlab">Code (MATLAB Toolbox)</a>
              <a href="https://github.com/CORTx-Lab/barrier-states-python">Code (Python Package)</a>
            </div>
          </div>

          <!-- 2021 -->
          <div class="year-heading">2021</div>

            <div class="pub-item">
            <div class="pub-title">HJB Based Optimal Safe Control Using Control Barrier Functions</div>
            <div class="pub-authors">Hassan Almubarak, Evangelos A. Theodorou, Nader Sadegh</div>
            <div class="pub-venue"><i>60th IEEE Conference on Decision and Control (CDC)</i>, 2021, pp. 6829-6834</div>
            <div class="pub-note">
<!--              Constrained HJB-based formulation for optimal safe control using control barrier functions.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2106.15560">arXiv</a>
              <a href="https://doi.org/10.1109/CDC45484.2021.9683655">DOI</a>
            </div>
          </div>

          <div class="pub-item">
            <div class="pub-title">Safety Embedded Control of Nonlinear Systems via Barrier States</div>
            <div class="pub-authors">Hassan Almubarak, Nader Sadegh, Evangelos A. Theodorou</div>
            <div class="pub-venue"><i>IEEE Control Systems Letters</i>, vol. 6, pp. 1328-1333, 2022</div>
            <div class="pub-venue"><i>60th IEEE Conference on Decision and Control (CDC)</i>, 2021</div>
            <div class="pub-note">
<!--              Foundational barrier state framework for embedding safety into stabilization and nonlinear control design.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2102.10253">arXiv</a>
              <a href="https://doi.org/10.1109/LCSYS.2021.3093255">DOI</a>
              <a href="https://github.com/CORTx-Lab/barrier-states-matlab">Code (MATLAB Toolbox)</a>
              <a href="https://github.com/CORTx-Lab/barrier-states-python">Code (Python Package)</a>
            </div>
          </div>

          <!-- 2020 -->
          <div class="year-heading">2020</div>

          <div class="pub-item">
            <div class="pub-title">Recursive Analytic Solution of Nonlinear Optimal Regulators</div>
            <div class="pub-authors">Nader Sadegh, Hassan Almubarak</div>
            <div class="pub-venue"><i>arXiv preprint</i>, 2020</div>
            <div class="pub-note">
<!--              Analytic recursive solution framework for nonlinear (high order) optimal regulation.-->
            </div>
            <div class="pub-links">
              <a href="https://arxiv.org/abs/2006.15685">arXiv</a>
            </div>
          </div>
          <!-- 2019 -->
          <div class="year-heading">2019</div>
          <div class="pub-item">
            <div class="pub-title">Infinite Horizon Nonlinear Quadratic Cost Regulator (NLQR)</div>
            <div class="pub-authors">Hassan Almubarak, Nader Sadegh, D. G. Taylor</div>
            <div class="pub-venue"><i>American Control Conference (ACC)</i>, 2019, pp. 5570–5575</div>
            <div class="pub-note">
<!--              Developing infinite horizon nonlinear quadratic cost regulator (NLQR) formulation (closed form) and analysis.-->
            </div>
            <div class="pub-links">
              <a href="https://doi.org/10.23919/ACC.2019.8814783">DOI</a>
            </div>
        </div>

        </td>
      </tr>
    </tbody>
  </table>

  <script src="placeholder.js"></script>
</body>
</html>