Publications

Google Scholar
  1. Robust Transformer-Enhanced Tire Force Estimation: Combining Model-Based Observer and Deep Learning
    M Ghorbani, A Hosseinzadeh, M Pirani, A Khajepour
    IEEE/ASME Transactions on Mechatronics, 2026
  2. A Security Mechanism Against Inference Attacks on Networked Systems
    E Nekouei, M Pirani, C Weng, MA van Wyk
    IEEE Transactions on Information Forensics and Security, 2025
  3. Multi-Objective Agent-Based Model Predictive Controller for Plug-and-Play Vehicle Control
    J Zhong, L Khoshnevisan, S Huang, M Pirani, YV Pant, A Khajepour
    IEEE Transactions on Intelligent Transportation Systems, 2025
  4. Decision Making in Urban Traffic: A Game Theoretic Approach for Autonomous Vehicles Adhering to Traffic Rules
    K Shu, M Ning, AR Alghooneh, S Li, M Pirani, A Khajepour
    IEEE Transactions on Intelligent Transportation Systems, 2025
  5. Cyber-Physical Security of Vehicles: Zero Dynamics Attacks Against Vehicle's Lateral Dynamics
    G Shaaban, H Fourati, A Kibangou, C Prieur, M Pirani
    European Journal of Control, 101316, 2025
  6. Survey of Distributed Algorithms for Resource Allocation over Multi-Agent Systems
    M Doostmohammadian, A Aghasi, M Pirani, E Nekouei, H Zarrabi, et al.
    Annual Reviews in Control 59, 100983, 2025
  7. On the Design of Resilient Distributed Single Time-Scale Estimators: A Graph-Theoretic Approach
    M Doostmohammadian, M Pirani
    IEEE Transactions on Network Science and Engineering, 2025
  8. Game-Theoretic Motion Planning with Perception Uncertainty and Right-of-Way Constraints
    P Panahandeh, AR Alghooneh, M Pirani, B Fidan, A Khajepour
    Sensors 24 (24), 8177, 2024
  9. Eliminating Uncertainty of Driver's Social Preferences for Lane Change Decision-Making in Realistic Simulation Environment
    Z Deng, W Hu, C Sun, D Chu, T Huang, W Li, C Yu, M Pirani, D Cao, et al.
    IEEE Transactions on Intelligent Transportation Systems 26 (2), 1583–1597, 2024
  10. A Hybrid Model-Data Vehicle Sensor and Actuator Fault Detection and Diagnosis System
    M Zabihi, RV Mehrizi, A Kasaiezadeh, M Pirani, A Khajepour
    IEEE Transactions on Intelligent Transportation Systems 25 (7), 8121–8133, 2024
  11. Game-Theory in Practice: Application to Motion Planning and Decision Making in an Autonomous Shuttle Bus
    K Shu, AR Alghooneh, M Ning, S Li, M Pirani, A Khajepour
    IEEE Transactions on Intelligent Transportation Systems 25 (11), 18624–18635, 2024
  12. Learning Agent-Based Model Predictive Control for Holistic Vehicle Performance
    J Zhong, RV Mehrizi, M Pirani, C Yu, A Kasaiezadeh, YV Pant, et al.
    IEEE Transactions on Intelligent Transportation Systems 25 (11), 17482–17492, 2024
  13. Reselect: A New Approach for Continual Learning with Application to Vehicle State Estimation
    A Hosseinzadeh, RV Mehrizi, M Pirani, S Chenouri, A Khajepour
    IEEE Transactions on Intelligent Vehicles, 2024
  14. Network Critical Slowing Down: Data-Driven Detection of Critical Transitions in Nonlinear Networks
    M Pirani, S Jafarpour
    IEEE Transactions on Control of Network Systems 11 (2), 573–585, 2024
  15. Graph-Theoretic Approaches for Analyzing the Resilience of Distributed Control Systems: A Tutorial and Survey
    M Pirani, A Mitra, S Sundaram
    Automatica 157, 111264, 2023
  16. Human Inspired Autonomous Intersection Handling Using Game Theory
    K Shu, RV Mehrizi, S Li, M Pirani, A Khajepour
    IEEE Transactions on Intelligent Transportation Systems 24 (10), 11360–11371, 2023
  17. Multibin Breathing Pattern Estimation by Radar Fusion for Enhanced Driver Monitoring
    A Gharamohammadi, M Pirani, A Khajepour, G Shaker
    IEEE Transactions on Instrumentation and Measurement 73, 1–12, 2023
  18. Medium-Fidelity Evaluation and Modeling for Perception Systems of Intelligent and Connected Vehicles
    C Sun, Y Cui, ND Dào, RV Mehrizi, M Pirani, A Khajepour
    IEEE Transactions on Intelligent Vehicles 9 (1), 1711–1721, 2023
  19. Impact of Network Topology on the Resilience of Vehicle Platoons
    M Pirani, S Baldi, KH Johansson
    IEEE Transactions on Intelligent Transportation Systems 23 (9), 15166–15177, 2022
  20. Resilient Coordinated Movement of Connected Autonomous Vehicles
    M Safi, SM Dibaji, M Pirani
    European Journal of Control 64, 100613, 2022
  21. Optimal Active Fault Detection in Inverter-Based Grids
    M Pirani, M Hosseinzadeh, JA Taylor, B Sinopoli
    IEEE Transactions on Control Systems Technology 31 (3), 1411–1417, 2022
  22. Security-Aware Optimal Actuator Placement in Vehicle Platooning
    MH Basiri, M Pirani, NL Azad, S Fischmeister
    Asian Journal of Control 24 (4), 1557–1574, 2022
  23. A Game-Theoretic Framework for Security-Aware Sensor Placement Problem in Networked Control Systems
    M Pirani, E Nekouei, H Sandberg, KH Johansson
    IEEE Transactions on Automatic Control 67 (7), 3699–3706, 2021
  24. Consensus-Based Distributed Estimation in the Presence of Heterogeneous, Time-Invariant Delays
    M Doostmohammadian, UA Khan, M Pirani, T Charalambous
    IEEE Control Systems Letters 6, 1598–1603, 2021
  25. Strategic Sensor Placement on Graphs
    M Pirani, JA Taylor, B Sinopoli
    Systems & Control Letters 148, 104855, 2021
  26. A Graph-Theoretic Equilibrium Analysis of Attacker-Defender Game on Consensus Dynamics Under Performance Metric
    M Pirani, E Nekouei, H Sandberg, KH Johansson
    IEEE Transactions on Network Science and Engineering 8 (3), 1991–2000, 2021
  27. A Randomized Filtering Strategy Against Inference Attacks on Active Steering Control Systems
    E Nekouei, M Pirani, H Sandberg, KH Johansson
    IEEE Transactions on Information Forensics and Security 17, 16–27, 2021
  28. Controllability of AC Power Networks with DC Lines
    M Pirani, JA Taylor
    IEEE Transactions on Power Systems 36 (2), 1649–1651, 2020
  29. A Systems and Control Perspective of CPS Security
    SM Dibaji, M Pirani, DB Flamholz, AM Annaswamy, KH Johansson, et al.
    Annual Reviews in Control 47, 394–411, 2019
  30. A Graph-Theoretic Approach to the Performance of Leader–Follower Consensus on Directed Networks
    M Pirani, H Sandberg, KH Johansson
    IEEE Control Systems Letters 3 (4), 954–959, 2019
  31. Cooperative Vehicle Speed Fault Diagnosis and Correction
    M Pirani, E Hashemi, A Khajepour, B Fidan, B Litkouhi, SK Chen, et al.
    IEEE Transactions on Intelligent Transportation Systems 20 (2), 783–789, 2019
  32. Security of Vehicle Platooning: A Game-Theoretic Approach
    MH Basiri, M Pirani, NL Azad, S Fischmeister
    IEEE Access 7, 185565–185579, 2019
  33. Fault Tolerant Consensus for Vehicle State Estimation: A Cyber-Physical Approach
    E Hashemi, M Pirani, A Khajepour, B Fidan, S Chen, B Litkouhi
    IEEE Transactions on Industrial Informatics 15 (9), 5129–5138, 2019
  34. Robustness of Leader-Follower Networked Dynamical Systems
    M Pirani, EM Shahrivar, B Fidan, S Sundaram
    IEEE Transactions on Control of Network Systems 5 (4), 1752–1763, 2018
  35. Cooperative Estimation of Road Condition Based on Dynamic Consensus and Vehicular Communication
    M Jalalmaab, M Pirani, B Fidan, S Jeon
    IEEE Transactions on Intelligent Vehicles 4 (1), 90–100, 2018
  36. Resilient Corner-Based Vehicle Velocity Estimation
    M Pirani, E Hashemi, A Khajepour, B Fidan, A Kasaiezadeh, SK Chen, et al.
    IEEE Transactions on Control Systems Technology 26 (2), 452–462, 2018
  37. Spectral and Structural Properties of Random Interdependent Networks
    EM Shahrivar, M Pirani, S Sundaram
    Automatica 83, 234–242, 2017
  38. Corner-Based Estimation of Tire Forces and Vehicle Velocities Robust to Road Conditions
    E Hashemi, M Pirani, A Khajepour, A Kasaiezadeh, SK Chen, B Litkouhi
    Control Engineering Practice 61, 28–40, 2017
  39. Graph Theoretic Approach to the Robustness of k-Nearest Neighbor Vehicle Platoons
    M Pirani, E Hashemi, JW Simpson-Porco, B Fidan, A Khajepour
    IEEE Transactions on Intelligent Transportation Systems 18 (11), 3218–3224, 2017
  40. Opinion Dynamics-Based Vehicle Velocity Estimation and Diagnosis
    E Hashemi, M Pirani, A Khajepour, B Fidan, A Kasaiezadeh, SK Chen
    IEEE Transactions on Intelligent Transportation Systems 19 (7), 2142–2148, 2017
  41. A Comprehensive Study on the Stability Analysis of Vehicle Dynamics with Pure/Combined-Slip Tyre Models
    E Hashemi, M Pirani, A Khajepour, A Kasaiezadeh
    Vehicle System Dynamics 54 (12), 1736–1761, 2016
  42. On the Smallest Eigenvalue of Grounded Laplacian Matrices
    M Pirani, S Sundaram
    IEEE Transactions on Automatic Control 61 (2), 509–514, 2016
  43. Cooperative Least Square Parameter Identification by Consensus within the Network of Autonomous Vehicles
    M Jalalmaab, M Pirani, B Fidan, S Jeon
    SAE International Journal of Passenger Cars — Electronic and Electrical Systems, 2016
  44. Study of Swarm Behavior in Modeling and Simulation of Cluster Formation in Nanofluids
    M Pirani, H Basirat Tabrizi, A Farshad
    Modelling and Simulation in Engineering 2013 (1), 142165, 2013
  1. Fast-Convergent Anytime-Feasible Dynamics for Distributed Allocation of Resources over Switching Sparse Networks with Quantized Communication Links
    M Doostmohammadian, A Aghasi, M Pirani, E Nekouei, UA Khan, et al.
    2022 European Control Conference (ECC), 84–89
  2. Consensus-Based Networked Tracking in Presence of Heterogeneous Time-Delays
    M Doostmohammadian, M Pirani, UA Khan
    2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM)
  3. Stable Interaction of Autonomous Vehicle Platoons with Human-Driven Vehicles
    M Pirani, Y She, R Tang, Z Jiang, YV Pant
    2022 American Control Conference (ACC), 633–640
  4. Design of Attack-Resilient Consensus Dynamics: A Game-Theoretic Approach
    M Pirani, E Nekouei, SM Dibaji, H Sandberg, KH Johansson
    2019 18th European Control Conference (ECC), 2227–2232
  5. Attack Resilient Interconnected Second Order Systems: A Game-Theoretic Approach
    M Pirani, JA Taylor, B Sinopoli
    2019 IEEE 58th Conference on Decision and Control (CDC), 4391–4396
  6. Secure Control of Wide-Area Power Systems: Confidentiality and Integrity Threats
    SM Dibaji, M Pirani, AM Annaswamy, KH Johansson, A Chakrabortty
    2018 IEEE Conference on Decision and Control (CDC), 7269–7274
  7. Synchronization of Kuramoto Oscillators in a Bidirectional Frequency-Dependent Tree Network
    M Jafarian, X Yi, M Pirani, H Sandberg, KH Johansson
    2018 IEEE Conference on Decision and Control (CDC), 4505–4510
  8. Resilient Estimation and Control on K-Nearest Neighbor Platoons: A Network-Theoretic Approach
    M Pirani, E Hashemi, B Fidan, JW Simpson-Porco, H Sandberg, et al.
    IFAC-PapersOnLine 51 (23), 22–27, 2018
  9. System-Theoretic Performance Metrics for Low-Inertia Stability of Power Networks
    M Pirani, JW Simpson-Porco, B Fidan
    Proceedings of CDC 2017, the 56th IEEE Conference on Decision and Control
  10. H∞ Performance of Mechanical and Power Networks
    M Pirani, E Hashemi, B Fidan, JW Simpson-Porco
    IFAC-PapersOnLine 50 (1), 5196–5201, 2017
  11. Distributed Robust Vehicle State Estimation
    E Hashemi, M Pirani, B Fidan, A Khajepour, S Chen, B Litkouhi
    2017 IEEE Intelligent Vehicles Symposium (IV), 693–698
  12. Integrated Estimation Structure for the Tire Friction Forces in Ground Vehicles
    E Hashemi, M Pirani, A Khajepour, B Fidan, A Kasaiezadeh, SK Chen, et al.
    IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 1657–1662, 2016
  13. Cooperative Road Condition Estimation for an Adaptive Model Predictive Collision Avoidance Control Strategy
    M Jalalmaab, M Pirani, B Fidan, S Jeon
    2016 IEEE Intelligent Vehicles Symposium (IV), 1072–1077
  14. Robustness and Algebraic Connectivity of Random Interdependent Networks
    EM Shahrivar, M Pirani, S Sundaram
    IFAC-PapersOnLine 48 (22), 252–257, 2015
  15. Coherence and Convergence Rate in Networked Dynamical Systems
    M Pirani, EM Shahrivar, S Sundaram
    2015 54th IEEE Conference on Decision and Control (CDC), 968–973
  16. Spectral Properties of the Grounded Laplacian Matrix with Applications to Consensus in the Presence of Stubborn Agents
    M Pirani, S Sundaram
    2014 American Control Conference (ACC), 2160–2165
  17. Stability of Dynamical Systems on a Graph
    M Pirani, T Costa, S Sundaram
    Proceedings of CDC 2014, the 53rd IEEE Conference on Decision and Control
  1. Search-Based Autonomous Vehicle Motion Planning Using Game Theory
    P Panahandeh, M Pirani, B Fidan, A Khajepour
    arXiv preprint arXiv:2507.15088, 2025
  2. Bridging Data-Driven and Physics-Based Models: A Consensus Multi-Model Kalman Filter for Robust Vehicle State Estimation
    F Mafi, L Khoshnevisan, M Pirani, A Khajepour
    arXiv preprint arXiv:2506.12862, 2025
  3. Resource-Aware Stealthy Attacks in Vehicle Platoons
    A Eslami, M Pirani
    arXiv preprint arXiv:2510.14119, 2025
  4. A Novel Parameter-Tying Theorem in Multi-Model Adaptive Systems: Systematic Approach for Efficient Model Selection
    F Mafi, L Khoshnevisan, M Pirani, A Khajepour
    arXiv preprint arXiv:2504.20202, 2025
  5. Fault Detection and Human Intervention in Vehicle Platooning: A Multi-Model Framework
    F Mafi, M Pirani
    arXiv preprint arXiv:2504.20209, 2025
  6. An Efficient Continual Learning Framework for Multivariate Time Series Prediction Tasks with Application to Vehicle State Estimation
    A Hosseinzadeh, L Khoshnevisan, M Pirani, S Chenouri, A Khajepour
    arXiv preprint arXiv:2503.01669, 2025
  7. Adaptive State Estimation and Continual Learning under Data Distribution Shift
    A Hosseinzadeh, M Ghorbani, L Khoshnevisan, M Pirani, S Chenouri, et al.
    Authorea Preprints, 2025
  8. Hybrid Multi-Stage Framework for Fault Detection and Diagnosis in Vehicle Systems
    M Ghorbani, L Khoshnevisan, C Sun, M Pirani, A Khajepour
    Authorea Preprints, 2025
  9. A Systematic Approach to Real-Time Vehicle State Estimation and Assessment
    M Ghorbani, RV Mehrizi, M Pirani, A Khajepour
    Authorea Preprints, 2024
  10. A Gain Randomization Framework Against Inference Attacks on Control Systems
    E Nekouei, M Pirani, C Weng, MA van Wyk
    Authorea Preprints, 2024
  11. Fast-Convergent Dynamics for Distributed Resource Allocation over Sparse Time-Varying Networks
    M Doostmohammadian, A Aghasi, T Charalambous
    arXiv preprint arXiv:2012.08181, 2020
  1. Reliable Vehicle State and Parameter Estimation
    M Pirani
    PhD Thesis, University of Waterloo, 2017
  2. On Spectral Properties of the Grounded Laplacian Matrix
    M Pirani
    MASc Thesis, University of Waterloo, 2014

Powered by
►
Necessary cookies enable essential site features like secure log-ins and consent preference adjustments. They do not store personal data.
None
►
Functional cookies support features like content sharing on social media, collecting feedback, and enabling third-party tools.
None
►
Analytical cookies track visitor interactions, providing insights on metrics like visitor count, bounce rate, and traffic sources.
None
►
Advertisement cookies deliver personalized ads based on your previous visits and analyze the effectiveness of ad campaigns.
None
Powered by