Publications
Advised students are marked with † and equal contributions with *.
Manuscripts in Preparation
Himani Sinhmar, Vaibhav Srivastava, Naomi Ehrich Leonard, Neuromorphic Decision Dynamics for Deadlock-free Safe Navigation in Congested Environments. In preparation.
Himani Sinhmar*, Antoun K. Salib*†, Vaibhav Srivastava, Naomi Ehrich Leonard, Real-Time Inference of Cooperation for Path-Preserving Multi-Robot Social Navigation in Crowded Spaces. In preparation.
Himani Sinhmar, Giovanna Amorim†, Vaibhav Srivastava, Naomi Ehrich Leonard, Decentralized Neuromorphic Supervisory Control for Parsimonious Multi-Agent Persistent Environment Monitoring. In preparation.
2026
Himani Sinhmar, Vaibhav Srivastava, Naomi Ehrich Leonard, Neuromorphic Realization of Best Response in Finite-Action Games. To appear in IEEE Conference on Decision and Control (CDC 2026). [arXiv]
Ian Xul Belaustegui, Himani Sinhmar, Ling-Wei Kong, Andrew Michael Hein, Naomi Ehrich Leonard, A Continuous-Time and State-Space Relaxation of the Linear Threshold Model with Nonlinear Opinion Dynamics. To appear in IEEE Conference on Decision and Control (CDC 2026). [arXiv]
2025
Donggeon David Oh, Justin Lidard, Haimin Hu, Himani Sinhmar, Elle Lazarski, Deepak Gopinath, Emily S. Sumner, Jonathan A. DeCastro, Guy Rosman, Naomi Ehrich Leonard, Jaime Fernández Fisac, Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports. Robotics: Science and Systems (RSS 2025). [arXiv]
Marcus Greiff, Stefano Di Cairano, Himani Sinhmar, Motion Planning and Control with Multi-Stage Construction of Invariant Sets. US Patent Application No. 18/589,946, 2025.
2024
Marcus Greiff, Himani Sinhmar, Andreas Weiss, Kristofer Berntorp, Stefano Di Cairano, Invariant Set Planning for Quadrotors: Design, Analysis, and Experiments. IEEE Transactions on Control Systems Technology, 33(2), 449–462, 2024. [Paper]
Himani Sinhmar, Marcus Greiff, Stefano Di Cairano, Practical and Safe Navigation Function Based Motion Planning of UAVs. IEEE International Conference on Robotics and Automation (ICRA 2024). [Paper]
Himani Sinhmar, Hadas Kress-Gazit, Multi-Source Encapsulation With Guaranteed Convergence Using Minimalist Robots. Distributed Autonomous Robotic Systems (DARS 2024). [Paper]
Qingkun Liu*, Wei Wang*, Himani Sinhmar, Itay Griniasty, Jason Z. Kim, et al., Microscopic, Continuum, Compliant, and Electronically Configurable Metasheet Robots. Nature Materials, 2024. [Paper]
Himani Sinhmar, Itay Griniasty, Qingkun Liu, Wei Wang, Itai Cohen, Hadas Kress-Gazit, Design and Control of Microscopic Robot Sheet. ICRA 2024 Workshop.
Himani Sinhmar, Control With Guarantees for Minimalist Robotic Swarms. PhD Dissertation, Cornell University, 2024.
2023
Himani Sinhmar, Hadas Kress-Gazit, Guaranteed Encapsulation of Targets with Unknown Motion by a Minimalist Robotic Swarm. IEEE Transactions on Robotics (TRO), 40, 816–830, 2023. [Paper]
2022
Himani Sinhmar, Hadas Kress-Gazit, Decentralized Control of Minimalistic Robotic Swarms For Guaranteed Target Encapsulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). [Paper]
Pallavi Sinha, Srikant Sukumar, Himani Sinhmar, Consensus of Networked Double Integrator Systems under Sensor Bias. International Journal of Adaptive Control and Signal Processing, 37(1), 278–297, 2022. [Paper]
Earlier
Himani Sinhmar, Srikant Sukumar, Distributed Model Independent Algorithm for Spacecraft Synchronization under Relative Measurement Bias. 5th CEAS Conference on Guidance, Navigation and Control, 2019. [Paper]
Himani Sinhmar, Vinod Kumar, Relative Autonomous Navigation Without Communication Between Spacecraft Using Line of Sight Measurements. 8th IEEE/CSAA GNC Conference, Xiamen, China, 2018. [Paper]
Himani Sinhmar, Pallavi Rastogi, Shripad P. Mahulikar, Direct Theoretical Approach to Jet Propulsion Principles based on Pressure Variation inside the Engine. [Preprint]