GUARDIAN: Safety Filtering for Systems with Perception Models Subject to Adversarial Attacks

Nicholas Rober, Alex Rose, Jonathan P. How

Control Systems Society Letters (L-CSS), 2026 (in review)

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Constraint-Aware Refinement for Safety Verification of Neural Feedback Loops

Nicholas Rober, Jonathan P. How

Control Systems Society Letters (L-CSS), 2025

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Safe Autonomy for Uncrewed Surface Vehicles Using Adaptive Control and Reachability Analysis

Karan Mahesh, Tyler M. Paine, Max L. Greene, Nicholas Rober, Steven Lee, Sildomar T. Monteiro, Anuradha Annaswamy, Michael R. Benjamin, Jonathan P. How

Transactions on Control Systems Technology (TCST), 2025

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Online Data-Driven Safety Certification for Systems Subject to Unknown Disturbances

Nicholas Rober, Karan Mahesh, Tyler M. Paine, Max L. Greene, Steven Lee, Sildomar T. Monteiro, Michael R. Benjamin, Jonathan P. How

IEEE International Conference on Robotics and Automation (ICRA), 2023

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A Hybrid Partitioning Strategy for Backward Reachability of Neural Feedback Loops

Nicholas Rober, Michael Everett, Songan Zhang, Jonathan P. How

American Controls Conference (ACC), 2023

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Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems

Nicholas Rober, Sydney M. Katz, Chelsea Sidrane, Esen Yel, Michael Everett, Mykel J. Kochenderfer, Jonathan P. How

IEEE Open Journal of Control Systems (OJ-CSYS), 2023

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Backward Reachability Analysis of Neural Feedback Loops

Nicholas Rober, Michael Everett, Jonathan P. How

IEEE Conference on Decision and Control (CDC), 2022

Winner: IEEE Aerospace Technical Commitee 2023 Outstanding Student Paper Award

Runner-Up: Best Paper Award (WFVML 2022)

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3D path following and L1 adaptive control for underwater vehicles

Nicholas Rober, Maxwell Hammond, Venanzio Cichella, J. Ezequiel Martin, Pablo Carrica

Ocean Engineering, 2022

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Three-Dimensional Path-Following Control for an Underwater Vehicle

Nicholas Rober, Venanzio Cichella, J. Ezequiel Martin, Yakin Kim, Pablo Carrica

Journal of Guidance, Control, and Dynamics, 2021

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Geometric Path Following of Underwater Vehicles

Nicholas Rober, Venanzio Cichella

AIAA Scitech, 2021

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BReach-LP: a Framework for Backward Reachability Analysis of Neural Feedback Loops

Nicholas Rober

SM Thesis, 2023

MIT Department of Aeronautics and Astronautics

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