Publications (by topic)

    AI/ML for CPS

  1. Abstraction based Output Range Analysis for Neural Networks.
    Pavithra Prabhakar and Zahra Rahimi.
    Annual Conference on Neural Information Processing Systems (Neurips), 2019.

  2. Flight Test Validation of a Safety-Critical Neural Network Based Longitudinal Controller for a Fixed-Wing UAS.
    Daksh Shukla , Ratan Lal , Dustin Hauptman , Shawn S Keshmiri , Pavithra Prabhakar and Nicole Beckage.
    AIAA AVIATION 2020 FORUM.

  3. Uncertain CPS/Stochastic Hybrid Systems

  4. Counterexample guided abstraction refinement for polyhedral probabilistic hybrid systems.
    Ratan Lal and Pavithra Prabhakar.
    ACM Transactions on Embedded Computing Systems (TECS)/ACM SIGBED International Conference on Embedded Software (EMSOFT), 2019.

  5. Bounded Verification of Reachability of Probabilistic Hybrid Systems.
    Ratan Lal and Pavithra Prabhakar.
    15th International Conference on Quantitative Evaluation of Systems (QEST), 2018.

  6. Hierarchical Abstractions for Reachability Analysis of Probabilistic Hybrid Systems.
    Ratan Lal and Pavithra Prabhakar.
    56th Annual Allerton Conference on Communication, Control, and Computing (Allerton), 2018.

  7. Agricultural Applications

  8. Impact of camera lens angle and sUAS flying altitude on spatial crop canopy temperature evaluation.
    Harman S Sangha , Ajay Sharda , Lukas Koch , Guanghui Wang and Pavithra Prabhakar.
    Autonomous Air and Ground Sensing Systems for Agricultural Optimization and Phenotyping IV, 2019.

  9. Optimal Multi-robot Path Planning for Pesticide Spraying in Agricultural Fields.
    Ratan Lal, Ajay Sharda and Pavithra Prabhakar.
    56th IEEE Conference on Decision and Control (CDC), 2017.

  10. Robustness Analysis

  11. Abstraction based verification of stability of polyhedral switched systems.
    Miriam García Soto and Pavithra Prabhakar.
    Nonlinear Analysis: Hybrid Systems (NAHS), 2020.

  12. Relating Syntactic and Semantic Perturbations of Hybrid Automata.
    Nima Roohi , Pavithra Prabhakar and Mahesh Viswanathan.
    29th International Conference on Concurrency Theory (CONCUR), 2018.

  13. Averist: Algorithmic Verifier for Stability of Linear Hybrid Systems.
    Miriam García Soto and Pavithra Prabhakar.
    21st International Conference on Hybrid systems: computation and control (HSCC), 2018.

  14. Formal Synthesis of Stabilizing Controllers for Switched Systems.
    Pavithra Prabhakar and Miriam García Soto.
    20th International Conference on Hybrid systems: computation and control (HSCC), 2017.

  15. Stability Preserving Simulations and Bisimulations for Hybrid Systems.
    Pavithra Prabhakar, Geir E. Dullerud and Mahesh Viswanathan.
    IEEE Transactions on Automatic Control (TAC), 2015.

  16. Counterexample Guided Abstraction Refinement for Stability Analysis.
    Pavithra Prabhakar and Miriam García Soto.
    28th International Conference on Computer Aided Verification (CAV), 2016.

  17. An Algorithmic Approach to Global Asymptotic Stability Verification of Hybrid Systems.
    Pavithra Prabhakar and Miriam García Soto.
    International Conference on Embedded Software (EMSOFT), 2016.

  18. Hybridization for Stability Analysis of Switched Linear Systems.
    Pavithra Prabhakar and Miriam García Soto.
    19th international conference on Hybrid systems: computation and control (HSCC), 2016.

  19. Bisimulations for Input-Output Stability of Hybrid Systems.
    Pavithra Prabhakar and Jun Liu.
    55th IEEE Conference on Decision and Control (CDC), 2016.

  20. Foundations of Quantitative Predicate Abstraction for Stability Analysis of Hybrid.
    Pavithra Prabhakar and Miriam García Soto.
    International Conference on Verification, Model Checking, and Abstract Interpretation (VMCAI).

  21. AVERIST: An Algorithmic Verifier for Stability.
    Pavithra Prabhakar and Miriam García Soto.
    International Workshop on Numerical Software Verification (NSV).

  22. Algorithmic Approach to Stability Verification of Hybrid Systems: A Summary.
    Pavithra Prabhakar and Miriam García Soto.
    International Workshop on Symbolic and Numerical Methods for Reachability Analysis (SNR).

  23. An algorithmic approach to stability verification of polyhedral switched systems.
    Pavithra Prabhakar and Miriam García Soto.
    Americal Control Conference (ACC), 2014.

  24. Pre-orders for reasoning about stability properties with respect to input of hybrid systems.
    Pavithra Prabhakar, Jun Liu and Richard M. Murray.
    International Conference on Embedded Software (EMSOFT), 2013.

  25. Abstraction Based Model-Checking of Stability of Hybrid Systems.
    Pavithra Prabhakar and Miriam García Soto.
    25th International Conference on Computer Aided Verification (CAV), 2013.

  26. On the decidability of stability of hybrid systems.
    Pavithra Prabhakar and Mahesh Viswanathan.
    16th international conference on Hybrid systems: computation and control (HSCC), 2013.

  27. Foundations for approximation based analysis of stability properties of hybrid systems.
    Pavithra Prabhakar.
    50th Annual Allerton Conference on Communication, Control, and Computing (Allerton), 2012.

  28. Pre-orders for reasoning about stability.
    Pavithra Prabhakar, Geir E. Dullerud and Mahesh Viswanathan.
    Hybrid Systems: Computation and Control (HSCC), 2012.

  29. Approximation based Verification of Safety and Stability of Hybrid Systems.
    Pavithra Prabhakar.
    PhD Thesis, Department of Computer Science, University of Illinois at Urbana-Champaign, 2011.

    Safety Analysis

  1. Verifying Band Convergence for Sampled Control Systems.
    P. Ezudheen , Zahra Rahimi , Pavithra Prabhakar , Deepak D'Souza , and Meenakshi D'Souza.
    NASA Formal Methods - 12th International Symposium (NFM), 2020.

  2. Compositional construction of bounded error over-approximations of acyclic interconnected continuous dynamical systems.
    Ratan Lal and Pavithra Prabhakar.
    17th ACM-IEEE International Conference on Formal Methods and Models for System Design (MEMOCODE), 2019.

  3. Safety Analysis using Compositional Bounded Error Approximations of Communicating Hybrid Systems.
    Ratan Lal and Pavithra Prabhakar.
    56th IEEE Conference on Decision and Control (CDC), 2017.

  4. HARE: A Hybrid Abstraction Refinement Engine for Verifying Non-Linear Hybrid Automata.
    Nima Roohi, Pavithra Prabhakar and Mahesh Viswanathan.
    23rd International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), 2017.

  5. Robust Model Checking of Timed Automata under Clock Drifts.
    Nima Roohi, Pavithra Prabhakar and Mahesh Viswanathan.
    20th International Conference on Hybrid systems: computation and control (HSCC), 2017.

  6. Abstraction Based Reachability Analysis for Finite Branching Stochastic Hybrid Systems.
    Wenji Zhang, Pavithra Prabhakar and Bala Natarajan.
    8th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), 2017.

  7. Hybridization Based CEGAR for Hybrid Automata with Affine Dynamics.
    Nima Roohi, Pavithra Prabhakar and Mahesh Viswanathan.
    22nd International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), 2016.

  8. Bounded error flowpipe computation of parameterized linear systems.
    Ratan Lal and Pavithra Prabhakar.
    International Conference on Embedded Software (EMSOFT), 2015.

  9. Hybrid Automata-Based CEGAR for Rectangular Hybrid Systems.
    Pavithra Prabhakar, Parasara Sridhar Duggirala, Sayan Mitra and Mahesh Viswanathan.
    Formal Methods in System Design (FMSD), 2015.

  10. A Decidable Class of Planar Linear Hybrid Systems.
    Pavithra Prabhakar, Vladimeros Vladimerou, Mahesh Viswanathan and Geir E. Dullerud.
    Theoretical Computer Science (TCS), 2015.

  11. Deciding Concurrent Planar Monotonic Linear Hybrid Systems.
    Pavithra Prabhakar, Nima Roohi and Mahesh Viswanathan.
    International Conference on Formal Modeling and Analysis of Timed Systems (FORMATS), 2015.

  12. Hybrid Automata-Based CEGAR for Rectangular Hybrid Systems.
    Pavithra Prabhakar, Parasara Sridhar Duggirala, Sayan Mitra and Mahesh Viswanathan.
    Verification, Model Checking, and Abstract Interpretation, 14th International Conference (VMCAI), 2013.

  13. Verification of Bounded Discrete Horizon Hybrid Automata.
    Vladimeros Vladimerou, Pavithra Prabhakar, Mahesh Viswanathan and Geir E. Dullerud.
    IEEE Transactions Automatic Control (TAC), 2012.

  14. Specifications for decidable hybrid games.
    Vladimeros Vladimerou, Pavithra Prabhakar, Mahesh Viswanathan and Geir E. Dullerud.
    Theoretical Computer Science (TCS), 2011.

  15. A dynamic algorithm for approximate flow computations.
    Pavithra Prabhakar and Mahesh Viswanathan.
    14th ACM International Conference on Hybrid Systems: Computation and Control (HSCC), 2011.

  16. Verifying Tolerant Systems Using Polynomial Approximations.
    Pavithra Prabhakar, Vladimeros Vladimerou, Mahesh Viswanathan and Geir E. Dullerud.
    30th IEEE Real-Time Systems Symposium (RTSS), 2009.

  17. STORMED Hybrid Systems.
    Vladimeros Vladimerou, Pavithra Prabhakar, Mahesh Viswanathan and Geir E. Dullerud.
    Automata, Languages and Programming, 35th International Colloquium (ICALP), 2008.

  18. A Decidable Class of Planar Linear Hybrid Systems.
    Pavithra Prabhakar, Vladimeros Vladimerou, Mahesh Viswanathan and Geir E. Dullerud.
    Hybrid Systems: Computation and Control (HSCC), 2008.

  19. Introduction to Hybrid Automata.
    Madhu Gopinathan and Pavithra Prabhakar.
    Modern Applications of Automata Theory, 2012.

  20. Approximation based Verification of Safety and Stability of Hybrid Systems.
    Pavithra Prabhakar.
    PhD Thesis, Department of Computer Science, University of Illinois at Urbana-Champaign, 2011.

    Formal Synthesis

  1. Optimal Path Planning for ω-regular Objectives with Abstraction-Refinement.
    Yoke Peng Leong and Pavithra Prabhakar.
    International Conference on Robotics and Automation (ICRA), 2019.

  2. Optimal tool path planning for 3D printing with spatio-temporal and thermal constraints.
    Zahra Rahimi , Pavana Prabhakar and Pavithra Prabhakar.
    Sixth Indian Control Conference (ICC), 2019.

  3. Formal Synthesis of Stabilizing Controllers for Periodically Controlled Linear Switched Systems.
    Atreyee Kundu , Miriam García Soto and Pavithra Prabhakar.
    Fifth Indian Control Conference (ICC), 2019.

  4. Optimal Multi-robot Path Planning for Pesticide Spraying in Agricultural Fields.
    Ratan Lal, Ajay Sharda and Pavithra Prabhakar.
    56th IEEE Conference on Decision and Control (CDC), 2017.

  5. Formal Synthesis of Stabilizing Controllers for Switched Systems.
    Pavithra Prabhakar and Miriam García Soto.
    20th International Conference on Hybrid systems: computation and control (HSCC), 2017.

  6. Optimal Control with Regular Objectives Using an Abstraction-Refinement Approach.
    Yoke Peng Leong and Pavithra Prabhakar.
    56th American Control Conference (ACC), 2016.

  7. Decoupled formal synthesis for almost separable systems with temporal logic specifications.
    Scott C. Livingston and Pavithra Prabhakar.
    International Symposium on Distributed Autonomous Robotic Systems (DARS), 2014.

  8. Switching Control of Dynamical Systems from Metric Temporal Logic Specifications.
    Jun Liu and Pavithra Prabhakar.
    IEEE International Conference on Robotics and Automation (ICRA), 2014.

  9. Patching task-level robot controllers based on a local -calculus formula.
    Scott C. Livingston, Pavithra Prabhakar, Alex B. Jose and Richard M. Murray.
    IEEE International Conference on Robotics and Automation (ICRA), 2013.

  10. Computing Augmented Finite Transition Systems to Synthesize Switching Protocols for Polynomial Switched Systems.
    Necmiye Ozay, Jun Liu, Pavithra Prabhakar and Richard M. Murray.
    American Control Conference (ACC), 2013.

  11. Behavior Based Service Composition.
    Fangzhe Chang, Pavithra Prabhakar and Ramesh Viswanathan.
    Web Services and Formal Methods (WS-FM), 2011.

  12. STORMED Hybrid Games.
    Vladimeros Vladimerou, Pavithra Prabhakar, Mahesh Viswanathan and Geir E. Dullerud.
    Hybrid Systems: Computation and Control, 12th International Conference (HSCC), 2009.

    Timed Automata and Timed Logics

  1. Verifying Band Convergence for Sampled Control Systems.
    Borzoo Bonakdarpour , and Cesar Sanchez.
    NASA Formal Methods - 12th International Symposium (NFM), 2020.

  2. Automatic Trace Generation for Signal Temporal Logic.
    Pavithra Prabhakar , Ratan Lal and .
    39th IEEE Real-Time Systems Symposium (RTSS), 2018.

  3. Robust Model Checking of Timed Automata under Clock Drifts.
    Nima Roohi, Pavithra Prabhakar and Mahesh Viswanathan.
    20th International Conference on Hybrid systems: computation and control (HSCC), 2017.

  4. Complexity Bounds for the Verification of Real-Time Software.
    Rohit Chadha, Axel Legay, Pavithra Prabhakar and Mahesh Viswanathan.
    Verification, Model Checking, and Abstract Interpretation (VMCAI), 2010.

  5. Automata and logics over finitely varying functions.
    Fabrice Chevalier, Deepak D'Souza, Raj Mohan Matteplackel and Pavithra Prabhakar.
    Annals of Pure Applied Logic (APAL), 2009.

  6. On the expressiveness of MTL in the pointwise and continuous semantics.
    Deepak D'Souza and Pavithra Prabhakar.
    Sotware Tools for Technology Transfer (STTT), 2007.

  7. Counter-Free Input-Determined Timed Automata.
    Fabrice Chevalier, Deepak D'Souza and Pavithra Prabhakar.
    Formal Modeling and Analysis of Timed Systems, 5th International Conference (FORMATS), 2007.

  8. On the Expressiveness of Metric Temporal Logic.
    Pavithra Prabhakar.
    MS Thesis, Department of Computer Science and Automation, Indian Institute of Science, Bangalore, India.

  9. On Continuous Timed Automata with Input-Determined Guards.
    Fabrice Chevalier, Deepak D'Souza and Pavithra Prabhakar.
    Foundations of Software Technology and Theoretical Computer Science (FSTTCS), 2006.

  10. On the Expressiveness of MTL with Past Operators.
    Pavithra Prabhakar and Deepak D'Souza.
    Formal Modeling and Analysis of Timed Systems, 4th International Conference (FORMATS), 2006.

  11. Formal modeling and analysis of real-time resource-sharing protocols in Real-Time Maude.
    Peter Csaba Olveczky, Pavithra Prabhakar and Xue Liu.
    22nd IEEE International Symposium on Parallel and Distributed Processing (IPDPS).

  12. Automata and Logics over Signals.
    Fabrice Chevalier, Deepak D'Souza, Raj Mohan Matteplackel and Pavithra Prabhakar.
    Modern Applications of Automata Theory, 2012.

  13. Eliminating past operators in Metric Temporal Logic.
    Deepak D'Souza, Raj Mohan Matteplackel and Pavithra Prabhakar.
    Perspectives in Concurrency Theory, 2008.

    Miscellaneous

  1. From Non-Zenoness Verification to Termination.
    Pierre Ganty, Samir Genaim, Ratan Lal and Pavithra Prabhakar.
    ACM-IEEE International Conference on Formal Methods and Models for System Design (MEMOCODE), 2015.

  2. Verifying information flow properties of hybrid systems.
    Pavithra Prabhakar and Boris Köpf.
    International Conference on High Confidence Networked Systems (HiCoNS), (part of CPS Week), 2013.

  3. Conformance Testing of Boolean Programs with Multiple Faults.
    Pavithra Prabhakar and Mahesh Viswanathan.
    Formal Techniques for Distributed Systems (FMOODS/FORTE), 2012.

  4. On Convergence of Concurrent Systems under Regular Interactions.
    Pavithra Prabhakar, Sayan Mitra and Mahesh Viswanathan.
    20th International Conference on Concurrency Theory (CONCUR), 2009.