Publications

Journal Papers

[J28] B. She and M.T. Hale, “A dissipativity approach to analyzing composite spreading networks,” 2024, Under review. Preprint at: https://arxiv.org/abs/2412.02665
[J27] G. Behrendt, Z. Bell, and M.T. Hale, “Distributed asynchronous time-varying quadratic programming with
asynchronous objective sampling,” Under review. Preprint at: https://arxiv.org/abs/2411.11732
[J26] L. Fina, C. Petersen, and M.T. Hale, “Distributed Asynchronous Mixed-Integer Linear Programming with Feasibility Guarantees”, 2024, Under review. Preprint at: https://arxiv.org/abs/2410.10828
[J25] A. Benvenuti, C. Hawkins, B. Fallin, B. Chen, B. Bialy, M. Dennis, and M.T. Hale, “Differentially private reward functions in policy synthesis for Markov decision processes,” 2024, Under review. Preprint at: https://arxiv.org/abs/2309.12476v3
[J24] Tyler Hanks, Matthew Klawonn, Evan Patterson, Matthew Hale, and James Fairbanks, “A compositional framework for first-order optimization,” 2024, Under review. Preprint at: https://arxiv.org/abs/2403.05711
[J23] G. Behrendt, M. Longmire, Z. Bell, and M.T. Hale, “Distributed asynchronous discrete-time feedback optimization,” Accepted to IEEE Transactions on Automatic Control. In press. Preprint at: https://arxiv.org/abs/2312.00646
[J22] C. Hawkins and M.T. Hale, “Differentially private formation control: Privacy and network co-design,” Under review. Preprint at: http://corelab.mae.ufl.edu/papers/private_formations_preprint. pdf
[J21] Alexander Benvenuti, Brendan Bialy, Miriam Dennis, and Matthew Hale, “Guaranteed feasibility in differentially private linearly constrained convex optimization,” IEEE Control Systems Letters, vol. 8, pp. 2745–2750, 2024.
[J20] Baike She, Lei Xin, Philip E. Pare, and Matthew Hale, “Modeling epidemic spread: A Gaussian process regression approach,” IEEE Control Systems Letters, vol. 8, pp. 2847–2852, 2024.
[J19] B. Chen and M.T. Hale, “The bounded Gaussian mechanism for differential privacy,” Journal of Privacy and Confidentiality, vol. 14, no. 1, 2024.
[J18] C. Hawkins, B. Chen, K. Yazdani, and M.T. Hale, “Node and edge differential privacy for graph Laplacian spectra: Mechanisms and scaling laws,” IEEE Transactions on Network Science and Engineering, vol. 11, no. 2, pp. 1690–1701, 2024.
[J17] Matthew Ubl, Benjamin D. Robinson, and Matthew Hale, “Anomaly search over many sequences with switching costs,” IEEE Control Systems Letters, vol. 7, pp. 3006–3011, 2023.
[J16] S. Stolte, K. Volle, A. Indahlastari, A. Albizu, A.J. Woods, K. Brink, M.T. Hale, and R. Fang, “DOMINO: Domain-aware loss for deep learning calibration,” Software Impacts, vol. 15, p. 100 478, 2023.
[J15] B. Chen, K. Leahy, A. Jones, and M.T. Hale, “Differential privacy for symbolic systems with application to Markov chains,” Automatica, vol. 152, p. 110 908, 2023.
[J14] Kasra Yazdani, Austin Jones, Kevin Leahy, and Matthew Hale, “Differentially private LQ control,” IEEE Transactions on Automatic Control, vol. 68, no. 2, pp. 1061–1068, 2023.
[J13] K. Hendrickson, P. Ganesh, K. Volle, P. Buzaud, K. Brink, and M.T. Hale, “Decentralized weapon-target assignment under asynchronous communications,” Journal of Guidance, Control, and Dynamics, vol. 46, no. 2, pp. 312–324, 2023.
[J12] Katherine R. Hendrickson and Matthew T. Hale, “Totally asynchronous primal-dual convex optimization in blocks,” IEEE Transactions on Control of Network Systems, vol. 10, no. 1, pp. 454–466, 2023.
[J11] K. Parker, M. Hale, and P. Barooah, “Spectral differential privacy: Application to smart meter data,” IEEE Internet of Things Journal, vol. 9, no. 7, pp. 4987–4996, 2022.
[J10] K. Yazdani and M.T. Hale, “Asynchronous parallel nonconvex optimization under the Polyak-Lojasiewicz condition,” IEEE Control Systems Letters, vol. 6, pp. 524–529, 2022.
[J9] M.J. Blondin and M.T. Hale, “A decentralized multi-objective optimization algorithm,” Journal of Optimization Theory and Applications, vol. 189, no. 2, pp. 458–485, 2021.
[J8] M. Ubl and M.T. Hale, “Totally asynchronous large-scale quadratic programming: Regularization, convergence rates, and parameter selection,” IEEE Transactions on Control of Network Systems, vol. 8, no. 3, pp. 1465–1476, 2021.
[J7] F.M. Zegers, M.T. Hale, J.M. Shea, and W.E. Dixon, “Event-triggered formation control and leader tracking with resilience to Byzantine adversaries: A reputation-based approach,” IEEE Transactions on Control of Network Systems, vol. 8, no. 3, pp. 1417–1429, 2021.
[J6] P. Gohari, B. Wu, C. Hawkins, M.T. Hale, and U. Topcu, “Differential privacy on the unit simplex via the Dirichlet mechanism,” IEEE Transactions on Information Forensics and Security, vol. 16, pp. 2326–2340, 2021.
[J5] B. Bjorkman, M.T. Hale, T.D. Lamkin, B. Robinson, and C. Thompson, “Nonasymptotic connectivity of random graphs and their unions,” IEEE Transactions on Control of Network Systems, vol. 8, no. 1, pp. 391–399, 2021.
[J4] M.T. Hale, S.F. Ruf, T. Manzoor, and A. Muhammad, “Stability and sustainability of a networked resource consumption model,” IEEE Transactions on Network Science and Engineering, vol. 7, no. 4, pp. 2876–2888, 2020.
[J3] M.T. Hale, A. Nedić, and M. Egerstedt, “Asynchronous multi-agent primal-dual optimization,” IEEE Transactions on Automatic Control, vol. 62, no. 9, pp. 4421–4435, 2017.
[J2] M.T. Hale and M. Egerstedt, “Cloud-enabled differentially private multiagent optimization with constraints,” IEEE Transactions on Control of Network Systems, vol. 5, no. 4, pp. 1693–1706, Dec. 2018.
[J1] Y. Wardi, M. Egerstedt, and M.T. Hale, “Switched-mode systems: Gradient-descent algorithms with Armijo step sizes,” Discrete Event Dynamic Systems, vol. 25, no. 4, pp. 571–599, 2015.

Conference Papers

[C51] Yerin Kim, Alexander Benvenuti, Bo Chen, Mustafa Karabag, Abhishek Kulkarni, Nathaniel D. Bastian, Ufuk Topcu, and Matthew Hale, “Defining and measuring deception in sequential decision systems: Application to network defense,” 2024 IEEE Military Communications Conference (MILCOM), To appear, 2024.
[C50] A. Pooley, A. G. De Siqueira and M. Hale, “SwarmFlowVR: A Virtual Reality User Interface for Multi-Robot Control,” 2024 7th Iberian Robotics Conference (ROBOT), 2024, pp. 1-8.
[C49] Ellie Pond, April Sebok, Zachary Bell, and Matthew Hale, “A totally asynchronous Nesterov’s accelerated gradient method for convex optimization,” Accepted to the 63rd IEEE Conference on Decision and Control (CDC); to appear. Preprint at: https://arxiv.org/abs/2406.10124
[C48] W. D. Warke, J. Humberto Ramos, P. Ganesh, K. M. Brink and M. T. Hale, “Pose Graph Optimization over Planar Unit Dual Quaternions: Improved Accuracy with Provably Convergent Riemannian Optimization,” 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, pp. 12848-12855.
[C47] Alexander Benvenuti, Calvin Hawkins, Brandon Fallin, Bo Chen, Brendan Bialy, Miriam Dennis, Matthew Hale, “Differentially Private Reward Functions for Markov Decision Processes”, Proceedings of the 8th IEEE Conference on Control Technology and Applications (CCTA), 2024, pp. 631–636.
[C46] T. Hanks, B. She, M.T. Hale, E. Patterson, M. Klawonn, and J. Fairbanks, “Modeling model-predictive control: A category theoretic framework for multistage control problems” 2024 American Control Conference (ACC), 2024, pp. 4850–4857.
[C45] Bo Chen, Baike She, Calvin Hawkins, Alex Benvenuti, Brandon Fallin, Philip E. Pare, and Matthew Hale, “Differentially private computation of basic reproduction numbers in networked epidemic models,” 2024 American Control Conference (ACC), 2024, pp. 4422-4427.
[C44] William Warke, Kasra Yazdani, and Matthew Hale, “Computation-aware bearings-only target localization
and circumnavigation in 2D,” in AIAA SCITECH 2024 Forum, p. 1176.
[C43] B. Fallin, C. Hawkins, B. Chen, P. Gohari, A. Benvenuti, U. Topcu, and M.T. Hale, “Differential privacy for stochastic matrices using the matrix Dirichlet mechanism,” 62nd IEEE Conference on Decision and Control (CDC), 2023, pp. 5067-5072.
[C42] P. Gohari, M.T. Hale, and U. Topcu, “Privacy-engineered value decomposition networks for cooperative multi-agent reinforcement learning,” 62nd IEEE Conference on Decision and Control (CDC), 2023, pp. 8038-8044.
[C41] B. She, T. Hanks, J. Fairbanks, and M.T. Hale, “Characterizing compositionality of LQR from the categorical perspective,” 62nd IEEE Conference on Decision and Control (CDC), 2023, pp. 1680-1685.
[C40] Skylar E. Stolte, Kyle Volle, Aprinda Indahlastari, Alejandro Albizu, Adam J. Woods, Kevin Brink, Matthew Hale, and Ruogu Fang, “Domino++: Domain-aware loss regularization for deep learning generalizability,” in Proceedings of the 26th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), 2023, pp. 713-723.
[C39] Bo Chen, Calvin Hawkins, Mustafa O. Karabag, Cyrus Neary, Matthew Hale, and Ufuk Topcu, “Differential privacy in cooperative multiagent planning,” in 39th Conference on Uncertainty in Artificial Intelligence (UAI), 2023, pp. 347-357.
[C38] G. Behrendt, A. Soderlund, M.T. Hale, and S. Phillips, “Autonomous satellite rendezvous and proximity operations with time constrained sub-optimal model predictive control,” IFAC-PapersOnLine, vol. 56, no. 2, 2023, pp. 9380-9385.
[C37] G. Behrendt and M.T. Hale, “A totally asynchronous algorithm for time-varying convex optimization problems,” IFAC-PapersOnLine, vol. 56, no. 2, 2023, pp. 5203-5208.
[C36] E. Pond and M.T. Hale, “Fast verification of control barrier functions via linear programming,” IFAC-PapersOnLine, vol. 56, no. 2, 2023, pp. 10595-10600.
[C35] B. She, P.E. Pare, and M.T. Hale, “Distributed reproduction numbers of networked epidemics,” 2023 American Control Conference (ACC), 2023, pp. 4302-4307.
[C34] D. Hustig-Schultz, K. Hendrickson, M.T. Hale, and Ricardo G. Sanfelice, “A totally asynchronous block-based heavy ball algorithm for convex optimization,” 2023 American Control Conference (ACC), 2023, pp. 873-878.
[C33] M. Ubl, K. Yazdani, and M.T. Hale, “Linear regularizers enforce the strict saddle property,” Proceedings of the 37th AAAI Conference on Artificial Intelligence (AAAI), 2023, pp. 10017–10024.
[C32] M. Ubl and M.T. Hale, “Faster asynchronous nonconvex block coordinate descent with locally chosen stepsizes,” 61st IEEE Conference on Decision and Control (CDC), pp. 4559-4564.
[C31] A. Broshkevitch, A. Hancock, A. Peters, M. Kim, M. Anderson, H. Briggs, J. Colombi, M.T. Hale, K. Volle, P. Ganesh, and J. Ramos, “An autonomous system for the rapid airfield damage repair mission,” AIAA SCITECH 2023 Forum, 2023, p. 0605.
[C30] S. Stolte, K. Volle, A. Indahlastari, A. Albizu, A.J. Woods, K. Brink, M.T. Hale, and R. Fang, “DOMINO: Domain-aware model calibration in medical image segmentation,” in Proceedings of the 25th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), 2022, pp. 454–463.
[C29] M.T. Hale and R. Sanfelice, “Challenges in optimization-based control,” in 2022 2nd International Workshop on Computation-Aware Algorithmic Design for Cyber-Physical Systems (CAADCPS), 2022, pp. 17–18.
[C28] B. Chen, C. Hawkins, K. Yazdani, and M.T. Hale, “Edge differential privacy for algebraic connectivity of graphs,” Proceedings of the 60th IEEE Conference on Decision and Control (CDC), 2021, pp. 2764–2769.
[C27] K.R. Hendrickson, D.M. Hustig-Schultz, M.T. Hale, and R.G. Sanfelice, “Exponentially converging distributed gradient descent with intermittent communication via hybrid methods,” 60th IEEE Conference on Decision and Control (CDC), 2021, pp. 1186–1191.
[C26] K. Hendrickson and M.T. Hale, “Towards totally asynchronous primal-dual convex optimization in blocks,” 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 3663–3668.
[C25] C. Hawkins and M.T. Hale, “Differentially private formation control,” 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 6260–6265.
[C24] P. Gohari, M. Hale, and U. Topcu, “Privacy-preserving policy synthesis in Markov decision processes,” 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 6266–6271.
[C23] A.R. Coffman, M.T. Hale, and P. Barooah, “Resource allocation with local QoS: Flexible loads in the power grid,” 2020 IEEE Conference on Control Technology and Applications (CCTA), 2020, pp. 1060–1065.
[C22] P. Gohari, B. Wu, M.T. Hale, and U. Topcu, “The Dirichlet mechanism for differential privacy on the unit simplex,” 2020 American Control Conference (ACC), 2020, pp. 1253–1258.
[C21] Z. Xu, K. Yazdani, M.T. Hale, and U. Topcu, “Differentially private controller synthesis with metric temporal logic specifications,” 2020 American Control Conference (ACC), 2020, pp. 4745–4750.
[C20] K. Yazdani and M.T. Hale, “Error bounds and guidelines for privacy calibration in differentially private Kalman filtering,” 2020 American Control Conference (ACC), 2020, pp. 4423–4428.
[C19] F.M. Zegers, M.T. Hale, J.M. Shea, and W.E. Dixon, “Reputation-based event-triggered formation control and leader tracking with resilience to Byzantine adversaries,” 2020 American Control Conference (ACC), 2020, pp. 761–766.
[C18] M.J. Blondin and M.T. Hale, “An algorithm for multi-objective multi-agent optimization,” 2020 American Control Conference (ACC), 2020, pp. 1489–1494.
[C17] M. Ubl and M.T. Hale, “Totally asynchronous distributed quadratic programming with independent stepsizes and regularizations,” 58th IEEE Conference on Decision and Control (CDC), 2019, pp. 7423–7428.
[C16] S. Ruf, M.T. Hale, T. Manzoor, and A. Muhammad, “Design of sustainable resource consumption networks,” 58th IEEE Conference on Decision and Control (CDC), 2019, pp. 1692–1697.
[C15] M.T. Hale, Prabir Barooah, Kendall Parker, and Kasra Yazdani, “Differentially private smart metering: Implementation, analytics, and billing,” 1st ACM International Workshop on Urban Building Energy Sensing, Controls, Big Data Analysis, and Visualization (UrbSys), 2019, pp. 33–42.
[C14] A. R. Pedram, T. Tanaka, and M.T. Hale, “Bidirectional information flow and the roles of privacy masks in cloud-based control,” 2019 IEEE Information Theory Workshop (ITW), 2019, pp. 1–5.
[C13] A. Jones, K. Leahy, and M.T. Hale, “Towards differential privacy for symbolic systems,” 2019 American Control Conference (ACC), 2019, pp. 372–377.
[C12] M.T. Hale, T. Setter, and K. Fregene, “Trust-driven privacy in human-robot interactions,” 2019 American Control Conference (ACC), 2019, pp. 5234–5239.
[C11] S. Hochhaus and M.T. Hale, “Asynchronous distributed optimization with heterogeneous regularizations and normalizations,” 57th IEEE Conference on Decision and Control (CDC), 2018, pp. 4232–4237.
[C10] S. F. Ruf, M.T. Hale, T. Manzoor, and A. Muhammad, “Stability of leaderless resource consumption networks,” 57th IEEE Conference on Decision and Control (CDC), 2018, pp. 5334–5339.
[C9] M.T. Hale, A. Jones, and K. Leahy, “Privacy in feedback: The differentially private LQG,” 2018 American Control Conference (ACC), 2018, pp. 3386–3391.
[C8] M.T. Hale, “On the connectivity of unions of random graphs,” 56th IEEE Conference on Decision and Control (CDC), Dec. 2017, pp. 4422–4427.
[C7] M.T. Hale and M. Egerstedt, “Convergence rate estimates for consensus over random graphs,” 2017 American Control Conference (ACC), 2017, pp. 1024–1029.
[C6] Y. Wang, M.T. Hale, M. Egerstedt, and G. E. Dullerud, “Differentially private objective functions in distributed cloud-based optimization,” 55th IEEE Conference on Decision and Control (CDC), 2016, pp. 3688–3694.
[C5] M.T. Hale, A. Nedić, and M. Egerstedt, “Cloud-based centralized/decentralized multi-agent optimization with communication delays,” 54th IEEE Conference on Decision and Control (CDC), 2015, pp. 700–705.
[C4] M.T. Hale and M. Egerstedt, “Differentially private cloud-based multi-agent optimization with constraints,” 2015 American Control Conference (ACC), Jul. 2015, pp. 1235–1240.
[C3] M.T. Hale and M. Egerstedt, “Cloud-based optimization: A quasi-decentralized approach to multi-agent coordination,” 53rd IEEE Conference on Decision and Control (CDC), 2014, pp. 6635–6640.
[C2] M.T. Hale and Y. Wardi, “Mode scheduling under dwell time constraints in switched-mode systems,” 2014 American Control Conference (ACC), 2014, pp. 3954–3959.
[C1] A.M. Johnson, M.T. Hale, G.C. Haynes, and D.E. Koditschek, “Autonomous legged hill and stairwell ascent,” IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2011, pp. 134–142.