% new
@misc{Li-et-al,
      title={Stochastic Assume-Guarantee Contracts for Cyber-Physical System Design Under Probabilistic Requirements}, 
      author={Jiwei Li and Pierluigi Nuzzo and Alberto Sangiovanni-Vincentelli and Yugeng Xi and Dewei Li},
      year={2017},
      eprint={1705.09316},
      archivePrefix={arXiv},
      primaryClass={cs.SY},
      url={https://arxiv.org/abs/1705.09316}, 
}

@InProceedings{Yalcinkaya-et-al,
author="Yalcinkaya, Beyazit
and Torfah, Hazem
and Fremont, Daniel J.
and Seshia, Sanjit A.",
editor="Katsaros, Panagiotis
and Nenzi, Laura",
title="Compositional Simulation-Based Analysis of AI-Based Autonomous Systems for Markovian Specifications",
booktitle="Runtime Verification",
year="2023",
publisher="Springer Nature Switzerland",
address="Cham",
pages="191--212",
abstract="We present a framework for the compositional simulation-based analysis of AI-based autonomous systems for Markovian safety specifications. Our compositional approach allows us to cut down the cost of executing a large number of long-running simulations, by decomposing a simulation-based analysis task into several shorter and more efficient ones. Results obtained from the individual analyses are then stitched together to generate a result for the overall simulation-based task. Our approach is based on a decomposition of scenarios formalized as concurrent hierarchical probabilistic extended state machines that describe sequential and parallel compositions of scenarios. We present two instantiations of our framework for falsification and statistical verification. Using case studies from the autonomous driving domain, we demonstrate the scalability of our compositional approach in comparison to a monolithic analysis approach.",
isbn="978-3-031-44267-4"
}

@InProceedings{Watanabe-et-al,
author="Watanabe, Kazuki
and Eberhart, Clovis
and Asada, Kazuyuki
and Hasuo, Ichiro",
editor="Enea, Constantin
and Lal, Akash",
title="Compositional Probabilistic Model Checking with String Diagrams of MDPs",
booktitle="Computer Aided Verification",
year="2023",
publisher="Springer Nature Switzerland",
address="Cham",
pages="40--61",
abstract="We present a compositional model checking algorithm for Markov decision processes, in which they are composed in the categorical graphical language of string diagrams. The algorithm computes optimal expected rewards. Our theoretical development of the algorithm is supported by category theory, while what we call decomposition equalities for expected rewards act as a key enabler. Experimental evaluation demonstrates its performance advantages.",
isbn="978-3-031-37709-9"
}

@article{PredTransf,
author = {Morgan, Carroll and McIver, Annabelle and Seidel, Karen},
title = {Probabilistic predicate transformers},
year = {1996},
issue_date = {May 1996},
publisher = {Association for Computing Machinery},
address = {New York, NY, USA},
volume = {18},
number = {3},
issn = {0164-0925},
url = {https://doi.org/10.1145/229542.229547},
doi = {10.1145/229542.229547},
abstract = {Probabilistic predicates generalize standard predicates over a state space; with probabilistic predicate transformers one thus reasons about imperative programs in terms of probabilistic pre- and postconditions. Probabilistic healthiness conditions generalize the standard ones, characterizing “real” probabilistic programs, and are based on a connection with an underlying relational model for probabilistic execution; in both contexts demonic nondeterminism coexists with probabilistic choice. With the healthiness conditions, the associated weakest-precondition calculus seems suitable for exploring the rigorous derivation of small probabilistic programs.},
journal = {ACM Trans. Program. Lang. Syst.},
month = may,
pages = {325–353},
numpages = {29},
keywords = {weakest preconditions, refinement, program derivation, probability, predicate transformers, nondeterminism, Galois connection}
}

  



% Work from current authors:
@inproceedings{pasareanu2023assumption,
  author       = {Corina S. Pasareanu and
                  Ravi Mangal and
                  Divya Gopinath and
                  Huafeng Yu},
  editor       = {Panagiotis Katsaros and
                  Laura Nenzi},
  title        = {Assumption Generation for Learning-Enabled Autonomous Systems},
  booktitle    = {Runtime Verification - 23rd International Conference, {RV} 2023, Thessaloniki,
                  Greece, October 3-6, 2023, Proceedings},
  series       = {Lecture Notes in Computer Science},
  volume       = {14245},
  pages        = {3--22},
  publisher    = {Springer},
  year         = {2023},
  url          = {https://doi.org/10.1007/978-3-031-44267-4\_1},
  doi          = {10.1007/978-3-031-44267-4\_1},
  timestamp    = {Sun, 08 Oct 2023 09:22:52 +0200},
  biburl       = {https://dblp.org/rec/conf/rv/PasareanuMGY23.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

@InProceedings{pasareanu2023closed,
    author="P{\u{a}}s{\u{a}}reanu, Corina S.
    and Mangal, Ravi
    and Gopinath, Divya
    and Getir Yaman, Sinem
    and Imrie, Calum
    and Calinescu, Radu
    and Yu, Huafeng",
    editor="Enea, Constantin
    and Lal, Akash",
    title="Closed-Loop Analysis of Vision-Based Autonomous Systems: A Case Study",
    booktitle="Computer Aided Verification",
    year="2023",
    publisher="Springer Nature Switzerland",
    address="Cham",
    pages="289--303",
    isbn="978-3-031-37706-8"
}

% I think the journal version is the canonical reference?
@article{calinescu2022discrete,
  author       = {Radu Calinescu and
                  Calum Imrie and
                  Ravi Mangal and
                  Corina S. Pasareanu and
                  Misael Alpizar Santana and
                  Gricel V{\'{a}}zquez},
  title        = {Discrete-Event Controller Synthesis for Autonomous Systems with Deep-Learning
                  Perception Components},
  journal      = {CoRR},
  volume       = {abs/2202.03360},
  year         = {2022},
  url          = {https://arxiv.org/abs/2202.03360},
  eprinttype    = {arXiv},
  eprint       = {2202.03360},
  timestamp    = {Fri, 25 Feb 2022 09:51:53 +0100},
  biburl       = {https://dblp.org/rec/journals/corr/abs-2202-03360.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

@ARTICLE{calinescu2024controller,
  author={Calinescu, Radu and Imrie, Calum and Mangal, Ravi and Rodrigues, Genaína Nunes and Păsăreanu, Corina and Santana, Misael Alpizar and Vázquez, Gricel},
  journal={IEEE Transactions on Software Engineering}, 
  title={Controller Synthesis for Autonomous Systems with Deep-Learning Perception Components}, 
  year={2024},
  volume={},
  number={},
  pages={1-22},
  keywords={Artificial neural networks;Uncertainty;Robots;Autonomous systems;Collision avoidance;Software;Mobile robots;discrete-event controller synthesis;Markov model;deep neural network;uncertainty quantification;neuro-symbolic AI},
  doi={10.1109/TSE.2024.3385378}
}

@article{ivanov2021compositional,
author = {Ivanov, Radoslav and Jothimurugan, Kishor and Hsu, Steve and Vaidya, Shaan and Alur, Rajeev and Bastani, Osbert},
title = {Compositional Learning and Verification of Neural Network Controllers},
year = {2021},
issue_date = {October 2021},
publisher = {Association for Computing Machinery},
address = {New York, NY, USA},
volume = {20},
number = {5s},
issn = {1539-9087},
url = {https://doi.org/10.1145/3477023},
doi = {10.1145/3477023},
journal = {ACM Trans. Embed. Comput. Syst.},
month = sep,
articleno = {92},
numpages = {26},
keywords = {Neural networks, verification, compositional reasoning}
}

% Survey paper
@Inbook{mitra2025survey,
author="Mitra, Sayan
and P{\u{a}}s{\u{a}}reanu, Corina
and Prabhakar, Pavithra
and Seshia, Sanjit A.
and Mangal, Ravi
and Li, Yangge
and Watson, Christopher
and Gopinath, Divya
and Yu, Huafeng",
editor="Jansen, Nils
and Junges, Sebastian
and Kaminski, Benjamin Lucien
and Matheja, Christoph
and Noll, Thomas
and Quatmann, Tim
and Stoelinga, Mari{\"e}lle
and Volk, Matthias",
title="Formal Verification Techniques for Vision-Based Autonomous Systems -- A Survey",
bookTitle="Principles of Verification: Cycling the Probabilistic Landscape : Essays Dedicated to Joost-Pieter Katoen on the Occasion of His 60th Birthday, Part III",
year="2025",
publisher="Springer Nature Switzerland",
address="Cham",
pages="89--108",
isbn="978-3-031-75778-5",
doi="10.1007/978-3-031-75778-5_5",
url="https://doi.org/10.1007/978-3-031-75778-5_5"
}



% Probabilistic abstractions (from other researchers)
@inproceedings{badithela2023evaluation,
    author={Badithela, Apurva and Wongpiromsarn, Tichakorn and Murray, Richard M},
    title={Evaluation Metrics of Object Detection for Quantitative System-Level Analysis of Safety-Critical Autonomous Systems},
    booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={8651--8658},
    year={2023},
    organization={IEEE}
}
@inproceedings{badithela2021leveraging,
  title={Leveraging classification metrics for quantitative system-level analysis with temporal logic specifications},
  author={Badithela, Apurva and Wongpiromsarn, Tichakorn and Murray, Richard M},
  booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
  pages={564--571},
  year={2021},
  organization={IEEE}
}

% Sayan's group:
@article{hsei2022verifying,
    author = {Hsieh, Chiao and Li, Yangge and Sun, Dawei and Joshi, Keyur and Misailovic, Sasa and Mitra, Sayan},
    title = {Verifying Controllers With Vision-Based Perception Using Safe Approximate Abstractions},
    year = {2022},
    issue_date = {Nov. 2022},
    publisher = {IEEE Press},
    volume = {41},
    number = {11},
    issn = {0278-0070},
    url = {https://doi.org/10.1109/TCAD.2022.3197508},
    doi = {10.1109/TCAD.2022.3197508},
    journal = {Trans. Comp.-Aided Des. Integ. Cir. Sys.},
    month = nov,
    pages = {4205–4216},
    numpages = {12}
}

% Tools
@inproceedings{kwiatkowska2011prism,
author={M. Kwiatkowska and G. Norman and D. Parker},
title={{PRISM} 4.0: Verification of Probabilistic Real-time Systems},
booktitle={Proc. 23rd International Conference on Computer Aided Verification (CAV'11)},
year={2011},

editor={G. Gopalakrishnan and S. Qadeer},
pages={585--591},
organization={},
publisher={Springer},
series={LNCS},
volume={6806},
address={},
month={},
note={},
key={}
}

@misc{gurobi,
  author = {{Gurobi Optimization, LLC}},
  title = {{Gurobi Optimizer Reference Manual}},
  year = 2024,
  url = "https://www.gurobi.com"
}


@InProceedings{kelly2020f1tenth,
  title = 	 {F1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning},
  author =       {O'Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul},
  booktitle = 	 {Proceedings of the NeurIPS 2019 Competition and Demonstration Track},
  pages = 	 {77--89},
  year = 	 {2020},
  editor = 	 {Escalante, Hugo Jair and Hadsell, Raia},
  volume = 	 {123},
  series = 	 {Proceedings of Machine Learning Research},
  month = 	 {08--14 Dec},
  publisher =    {PMLR},
  pdf = 	 {http://proceedings.mlr.press/v123/o-kelly20a/o-kelly20a.pdf},
  url = 	 {https://proceedings.mlr.press/v123/o-kelly20a.html},
}


% Discretization of SHS
@article{abate2010approximate,
    title = {Approximate Model Checking of Stochastic Hybrid Systems},
    journal = {European Journal of Control},
    volume = {16},
    number = {6},
    pages = {624-641},
    year = {2010},
    issn = {0947-3580},
    doi = {https://doi.org/10.3166/ejc.16.624-641},
    url = {https://www.sciencedirect.com/science/article/pii/S0947358010706919},
    author = {Alessandro Abate and Joost-Pieter Katoen and John Lygeros and Maria Prandini},
    keywords = {Stochastic Hybrid Systems, Model Checking, Probabilistic Invariance}
}

$$% Probabilistic programs and logics %%%

% First truth-functional complete and decidable.
@InProceedings{chadha2006reasoning,
author="Chadha, R.
and Mateus, P.
and Sernadas, A.",
editor="{\'E}sik, Zolt{\'a}n",
title="Reasoning About States of Probabilistic Sequential Programs",
booktitle="Computer Science Logic",
year="2006",
publisher="Springer Berlin Heidelberg",
address="Berlin, Heidelberg",
pages="240--255",
isbn="978-3-540-45459-5"
}
% The ELLORA paper.
@InProceedings{barthe2018assertion,
author="Barthe, Gilles
and Espitau, Thomas
and Gaboardi, Marco
and Gr{\'e}goire, Benjamin
and Hsu, Justin
and Strub, Pierre-Yves",
editor="Ahmed, Amal",
title="An Assertion-Based Program Logic for Probabilistic Programs",
booktitle="Programming Languages and Systems",
year="2018",
publisher="Springer International Publishing",
address="Cham",
pages="117--144",
isbn="978-3-319-89884-1"
}

@phdthesis{hartog2002thesis,
title = "Probabilistic extensions of semantical models",
keywords = "IR-66906, EWI-918",
author = "{den Hartog}, Jeremy",
note = "Imported from DIES",
year = "2002",
month = oct,
language = "English",
publisher = "Vrije Universiteit",
address = "Netherlands",
type = "PhD Thesis - Research UT, graduation external",
school = "Vrije Universiteit",
}




%%% Probabilistic bisimulation and state space reduction %%%
% This is not based on bisimulation
@InProceedings{winkler2022out,
    author="Winkler, Tobias
    and Lehmann, Johannes
    and Katoen, Joost-Pieter",
    editor="Finkbeiner, Bernd
    and Wies, Thomas",
    title="Out of Control: Reducing Probabilistic Models by Control-State Elimination",
    booktitle="Verification, Model Checking, and Abstract Interpretation",
    year="2022",
    publisher="Springer International Publishing",
    address="Cham",
    pages="450--472",
    isbn="978-3-030-94583-1"
}

@InProceedings{kamaleson2016finite,
    author="Kamaleson, Nishanthan
    and Parker, David
    and Rowe, Jonathan E.",
    editor="Bo{\v{s}}na{\v{c}}ki, Dragan
    and Wijs, Anton",
    title="Finite-Horizon Bisimulation Minimisation for Probabilistic Systems",
    booktitle="Model Checking Software",
    year="2016",
    publisher="Springer International Publishing",
    address="Cham",
    pages="147--164",
    isbn="978-3-319-32582-8"
}

@InProceedings{dehnert2013smt,
    author="Dehnert, Christian
    and Katoen, Joost-Pieter
    and Parker, David",
    editor="Giacobazzi, Roberto
    and Berdine, Josh
    and Mastroeni, Isabella",
    title="SMT-Based Bisimulation Minimisation of Markov Models",
    booktitle="Verification, Model Checking, and Abstract Interpretation",
    year="2013",
    publisher="Springer Berlin Heidelberg",
    address="Berlin, Heidelberg",
    pages="28--47",
    isbn="978-3-642-35873-9"
}


%% From the survey paper

@article{perceptioncontracts,
  author       = {Angello Astorga and
                  Chiao Hsieh and
                  P. Madhusudan and
                  Sayan Mitra},
  title        = {Perception Contracts for Safety of ML-Enabled Systems},
  journal      = {Proc. {ACM} Program. Lang.},
  volume       = {7},
  number       = {{OOPSLA2}},
  pages        = {2196--2223},
  year         = {2023},
  url          = {https://doi.org/10.1145/3622875},
  doi          = {10.1145/3622875},
  timestamp    = {Sun, 10 Dec 2023 17:01:16 +0100},
  biburl       = {https://dblp.org/rec/journals/pacmpl/AstorgaHMM23.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}


