publications

2026

1. ACC

   Annealed Ensemble Kalman Inversion for Constrained Nonlinear Model Predictive Control: An ADMM Approach

   Ahmed Khalil*, Mohamed Safwat*, and Efstathios Bakolas

   In American Control Conference (ACC), (to appear in) 2026

   arXiv Bib

   @inproceedings{Khalil2025ADMMEKI,
     abbr = {ACC},
     bibtex_show = {true},
     author = {Khalil*, Ahmed and Safwat*, Mohamed and Bakolas, Efstathios},
     title = {Annealed Ensemble Kalman Inversion for Constrained Nonlinear Model Predictive Control: An ADMM Approach},
     year = {2026},
     booktitle = {American Control Conference (ACC), (to appear in)},
     arxiv = {2510.00559},
     url = {https://arxiv.org/abs/2510.00559},
     archiveprefix = {arXiv}
   }

2. AIAA SciTech

   Coupled Task Assignment in Hierarchical Multi-Agent Disaster Response: A Nested Hungarian Approach

   Ahmed Khalil, Yoonjae Lee, Efstathios Bakolas, and Gregory Gremillion

   In AIAA SciTech Forum 2026

   Bib HTML PDF

   @inproceedings{Khalil2026CLTA,
     abbr = {AIAA SciTech},
     bibtex_show = {true},
     author = {Khalil, Ahmed and Lee, Yoonjae and Bakolas, Efstathios and Gremillion, Gregory},
     title = {Coupled Task Assignment in Hierarchical Multi-Agent Disaster Response: A Nested Hungarian Approach},
     booktitle = {AIAA SciTech Forum},
     year = {2026},
     doi = {10.2514/6.2026-2747},
     html = {https://arc.aiaa.org/doi/abs/10.2514/6.2026-2747},
     pdf = {khalil2026CLTA.pdf}
   }

3. arXiv

   Game-Theoretic Autonomous Driving: A Graphs of Convex Sets Approach

   Nikolaj Käfer*, Ahmed Khalil*, Edward Huynh*, Efstathios Bakolas, and David Fridovich-Keil

   2026

   arXiv Bib PDF

   @misc{kafer2026IBRGCS,
     abbr = {arXiv},
     bibtex_show = {true},
     title = {Game-Theoretic Autonomous Driving: A Graphs of Convex Sets Approach},
     author = {Käfer*, Nikolaj and Khalil*, Ahmed and Huynh*, Edward and Bakolas, Efstathios and Fridovich-Keil, David},
     year = {2026},
     arxiv = {2601.20054},
     archiveprefix = {arXiv},
     primaryclass = {cs.MA},
     url = {https://arxiv.org/abs/2601.20054},
     pdf = {kafer2026IBRGCS.pdf}
   }

4. ACC

   Risk-Sensitive Model Predictive Control for Grid Services Through Distributed Energy Resources: A Conditional Value-at-Risk Approach

   Ahmed Khalil, Himanshu Sharma, Wei Wang, and Thiagarajan Ramachandran

   In American Control Conference (ACC), (to appear in) 2026

   Bib

   @inproceedings{Khalil2025SLSCVaR,
     abbr = {ACC},
     author = {Khalil, Ahmed and Sharma, Himanshu and Wang, Wei and Ramachandran, Thiagarajan},
     booktitle = {American Control Conference (ACC), (to appear in)},
     title = {Risk-Sensitive Model Predictive Control for Grid Services Through Distributed Energy Resources: A Conditional Value-at-Risk Approach},
     year = {2026},
     bibtex_show = {false}
   }

2025

1. IEEE LCSS

   Distributed and Localized Covariance Control of Coupled Systems: A System Level Approach

   Ahmed Khalil, Yoonjae Lee, and Efstathios Bakolas

   IEEE Control Systems Letters 2025

   arXiv Bib HTML PDF

   @article{Khalil2025distributedlocalizedcovariancecontrol,
     abbr = {IEEE LCSS},
     author = {Khalil, Ahmed and Lee, Yoonjae and Bakolas, Efstathios},
     journal = {IEEE Control Systems Letters},
     title = {Distributed and Localized Covariance Control of Coupled Systems: A System Level Approach},
     year = {2025},
     volume = {9},
     pages = {180-185},
     keywords = {Noise;Convex functions;Power system dynamics;Covariance matrices;Vectors;Uncertainty;Power grids;Mathematical models;History;Distributed algorithms;Distributed control;networked control systems;stochastic optimal control},
     doi = {10.1109/LCSYS.2025.3566703},
     arxiv = {2503.02094},
     bibtex_show = {true},
     html = {https://ieeexplore.ieee.org/document/10985872},
     pdf = {khalil2025lcss.pdf}
   }

2. IEEE ICRA

   TransformerMPC: Accelerating Model Predictive Control via Transformers

   Vrushabh Zinage, Ahmed Khalil, and Efstathios Bakolas

   In 2025 IEEE International Conference on Robotics and Automation (ICRA) 2025

   arXiv Bib HTML PDF

   @inproceedings{Zinage2025TransformerMPC,
     abbr = {IEEE ICRA},
     bibtex_show = {true},
     author = {Zinage, Vrushabh and Khalil, Ahmed and Bakolas, Efstathios},
     booktitle = {2025 IEEE International Conference on Robotics and Automation (ICRA)},
     title = {TransformerMPC: Accelerating Model Predictive Control via Transformers},
     year = {2025},
     volume = {},
     number = {},
     pages = {9221-9227},
     keywords = {Runtime;Optimal control;Predictive models;Transformers;Prediction algorithms;Real-time systems;Computational efficiency;Robots;Optimization;Predictive control},
     doi = {10.1109/ICRA55743.2025.11128126},
     arxiv = {2409.09266},
     html = {https://ieeexplore.ieee.org/document/11128126},
     pdf = {zinage2025transformermpc.pdf}
   }

3. AIAA SciTech

   A Two-Phase Algorithm for Joint Task Assignment and Coordination in Hierarchical Multi-Vehicle Systems

   Yoonjae Lee, Ahmed Khalil, Efstathios Bakolas, and Gregory Gremillion

   In AIAA SciTech Forum 2025

   Bib HTML PDF

   @inproceedings{Lee2025Scitech,
     abbr = {AIAA SciTech},
     bibtex_show = {true},
     author = {Lee, Yoonjae and Khalil, Ahmed and Bakolas, Efstathios and Gremillion, Gregory},
     title = {A Two-Phase Algorithm for Joint Task Assignment and Coordination in Hierarchical Multi-Vehicle Systems},
     booktitle = {AIAA SciTech Forum},
     year = {2025},
     doi = {10.2514/6.2025-2283},
     html = {https://arc.aiaa.org/doi/abs/10.2514/6.2025-2283},
     pdf = {lee2025scitech.pdf}
   }