Publications

Franck Djeumou, Makoto Suminaka, Michael Thompson, John Subosits (2024). Reference-Free Formula Drift with Reinforcement Learning: From Driving Data to Tire Energy-Inspired, Real-World Policies. Initial Submission at ICRA 2025.

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Alexander Davydov, Franck Djeumou, Marcus Greiff, Makoto Suminaka, Michael Thompson, John Subosits, Thomas Lew (2024). First, Learn What You Don’t Know: Active Information Gathering for Driving at the Limits of Handling. Initial Submission at ICRA 2025.

Thomas Lew, Marcus Greiff, Franck Djeumou, Makoto Suminaka, Michael Thompson, John Subosits (2024). Risk-Averse Model Predictive Control for Racing in Adverse Conditions. Initial Submission at ICRA 2025.

Franck Djeumou, Thomas Lew, Nan Ding, Michael Thompson, Makoto Suminaka, Marcus Greiff, John Subosits (2024). One Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits. CoRL 2024.

PDF Poster OpenReview Videos Drift on wet surface Outstanding Paper Award

Franck Djeumou, Cyrus Neary, Ufuk Topcu (2023). How to Learn and Generalize From Three Minutes of Data: Physics-Constrained and Uncertainty-Aware Neural Stochastic Differential Equations. Oral at CoRL 2023.

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Franck Djeumou, Jonathan Goh, Ufuk Topcu, Avinash Balachandran (2022). Autonomous Drifting with 3 Minutes of Data via Learned Tire Models. ICRA 2023.

PDF Cite Poster arXiv Videos Finalist: Outstanding Dynamics and Control Paper Award

Franck Djeumou, Cyrus Neary, Eric Goubault, Sylvie Putot, Ufuk Topcu (2022). Taylor-Lagrange Neural Ordinary Differential Equations: Toward Fast Training and Evaluation of Neural ODEs. IJCAI 2022.

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Franck Djeumou, Cyrus Neary, Eric Goubault, Sylvie Putot, Ufuk Topcu (2021). Neural Networks with Physics-Informed Architectures and Constraints for Dynamical Systems Modeling. L4DC 2022.

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Franck Djeumou, Ufuk Topcu (2021). Learning to Reach, Swim, Walk and Fly in One Trial: Data-Driven Control with Scarce Data and Side Information. L4DC 2022.

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Franck Djeumou, Murat Cubuktepe, Craig Lennon, Ufuk Topcu (2021). Task-Guided Inverse Reinforcement Learning Under Partial Information. ICAPS 2022.

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Franck Djeumou, Zhe Xu, Murat Cubuktepe, Ufuk Topcu (2021). Probabilistic control of heterogeneous swarms subject to graph temporal logic specifications: A decentralized and scalable approach. IEEE Transactions on Automatic Control (IEEE TAC).

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Franck Djeumou, Aditya Zutshi, Ufuk Topcu (2021). On-the-fly, data-driven reachability analysis and control of unknown systems: an F-16 aircraft case study. Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control.

PDF Cite Code Poster HSCC 21 Winner: Best Demo/Poster Award

Christos K Verginis, Franck Djeumou, Ufuk Topcu (2021). Learning-Based, Safety-Constrained Control from Scarce Data via Reciprocal Barriers. IEEE Conference on Decision and Control 2021.

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Dhananjay Raju, Sudarshanan Bharadwaj, Franck Djeumou, Ufuk Topcu (2020). Online synthesis for runtime enforcement of safety in multi-agent systems. IEEE Transactions on Control of Network Systems.

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Christos K Verginis, Franck Djeumou, Ufuk Topcu (2020). Safety-Constrained Learning and Control using Scarce Data and Reciprocal Barriers. In review at IEEE Transactions on Automatic Control.

Franck Djeumou, Abraham P Vinod, Eric Goubault, Sylvie Putot, Ufuk Topcu (2020). On-The-Fly Control of Unknown Systems: From Side Information to Performance Guarantees through Reachability. IEEE Transactions on Automatic Control (IEEE TAC).

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Franck Djeumou, Abraham P. Vinod, Eric Goubault, Sylvie Putot, Ufuk Topcu (2020). On-The-Fly Control of Unknown Smooth Systems from Limited Data. 2021 American Control Conference (ACC).

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Parham Gohari, Franck Djeumou, Abraham P Vinod, Ufuk Topcu (2020). Blending Controllers via Multi-Objective Bandits. American Control Conference (ACC 2022).

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Franck Djeumou, Zhe Xu, Ufuk Topcu (2020). Probabilistic Swarm Guidance Subject to Graph Temporal Logic Specifications. Robotics: Science and Systems (RSS 2020).

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Bo Wu, Murat Cubuktepe, Franck Djeumou, Zhe Xu, Ufuk Topcu (2020). Policy synthesis for switched linear systems with Markov decision process switching. IEEE Transactions on Automatic Control (IEEE TAC).

Franck Djeumou (2018). Safety Guarantees for Drones through Set-Based Formal Verification Methods. Master Thesis Report at ISAE-SUPAERO 2018.

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Franck Djeumou (2017). Human-Embedded Autonomous Flight Under Formal Task Specifications. Master Thesis Report at École Polytechnique 2017.