DASC Lab UMich

Distributed Autonomous Systems and Control Lab

The Distributed Autonomous Systems and Control Laboratory (3010 Ford Robotics Building) is directed by Dimitra Panagou.

The lab's research focuses on advancing planning, learning, and control methods for autonomous robotic systems, with a strong emphasis on safety, resilience, and provable guarantees. We address real-world challenges in robotics, including multi-agent, networked, and sensor-based systems, operating in uncertain, dynamic, or adversarial environments. Our interests include nonlinear systems, estimation, risk-aware decision making, learning-based control, uncertainty quantification, and control under constraints, with applications across aerial, ground, marine, and space domains.

If you are interested to join our lab, get in touch with Prof. Panagou or some of the PhD lab members.

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Recent Publications

Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
Devansh Agrawal Taekyung Kim Rajiv Govindjee Trushant Adeshara Jiangbo Yu Anuerkha Ravikumar Dimitra Panagou

RSS 2025

project page / video / code / arxiv /
Conformal Prediction in the Loop: Risk-Aware Control Barrier Functions for Stochastic Systems with Data-Driven State Estimators
Conformal Prediction in the Loop: Risk-Aware Control Barrier Functions for Stochastic Systems with Data-Driven State Estimators
Junhui Zhang Bardh Hoxha Georgios Fainekos Dimitra Panagou

IEEE Control Systems Letters 2025

paper /
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation
Taekyung Kim Robin Inho Kee Dimitra Panagou

IEEE ICRA 2025

project page / video / code / arxiv /
Maintaining Strong r-Robustness in Reconfigurable Multi-Robot Networks using Control Barrier Functions
Maintaining Strong r-Robustness in Reconfigurable Multi-Robot Networks using Control Barrier Functions
Haejoon Lee Dimitra Panagou

IEEE ICRA 2025

pdf / video / code / arxiv /
Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments
Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments
Taekyung Kim Dimitra Panagou

IEEE Robotics and Automation Letter 2025

project page / video / code / arxiv /
Multi-Agent Clarity-Aware Dynamic Coverage with Gaussian Processes
Multi-Agent Clarity-Aware Dynamic Coverage with Gaussian Processes
Devansh Agrawal Dimitra Panagou

IEEE CDC 2024

pdf / code / arxiv /
Eclares: Energy-Aware Clarity-Driven Ergodic Search
Eclares: Energy-Aware Clarity-Driven Ergodic Search
Kaleb Ben Naveed Devansh Agrawal Christopher Vermillion Dimitra Panagou

IEEE ICRA 2024

pdf / video / code / link / arxiv / bib /
@inproceedings{naveed2024eclares,
  title={Eclares: Energy-aware clarity-driven ergodic search},
  author={Naveed, Kaleb Ben and Agrawal, Devansh and Vermillion, Christopher and Panagou, Dimitra},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={14326--14332},
  year={2024},
  organization={IEEE}
}
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