Publications (Google Scholar)

[BC1] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Decentralized Analysis and Controller Synthesis of Networked Systems. In Smarter Cyber Physical Systems: Enabling Methodologies and Applications, pages 74-112, 2025. [DOI]

[RP7] Shirantha Welikala and Lei Wu. Intelligent Droop-Free Control-Communication Co-Design for Enhancing Stability, Robustness, and Security of Inverter-Based Microgrids (Submitted Jun 2026; Pending). In NSF ECCS EPCL, 2026. PI; Co-PI Lei Wu (Stevens); $499,734; Jan 2027 to Dec 2029 (requested).

[RP6] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Collaborative Research: CPS-FR: Medium: Scalable Control and Topology Co-Design for Inherent and Operational Resilience in Networked Cyber-Physical Systems (Submitted May 2026; Pending). In NSF - Collaborative Research - CPS-FR - Medium, 2026. Lead PI; with Hai Lin and Panos J. Antsaklis (Univ. of Notre Dame); Stevens share $499,998; Nov 2026 to Oct 2030 (requested).

[RP5] Yi Guo. REU Site: Human-Centered Robotics Enabled by Embodied AI (Submitted Aug 2026; Pending). In NSF REU Site, 2026. Shirantha Welikala, supporting investigator; PI Yi Guo (Stevens); amount not recorded; submitted Aug 19, 2026.

[RP4] Shirantha Welikala. CAREER: Developing Cognizant, Collaborative, and Performance-Guaranteed Multi-Agent Systems for Persistent Monitoring (Submitted Jul 2025; Not Funded). In NSF CAREER, 2025.

[RP3] Min Song, Cristina Comaniciu, Rod Kim, Koduvayur Subbalakshmi, Shirantha Welikala, Lei Wu, and Shucheng Yu. The Graduate Assistance in Areas of National Need (GAANN) Fellowship Program in Electrical and Computer Engineering at Stevens Institute of Technology (Submitted Jun 2024; Not Funded). In DoE, 2024.

[RP2] Shirantha Welikala and Lei Wu. ENG-NETZERO: Optimal Droop-Free Control-Communication Co-Design Strategies for Future NetZero Compliant Microgrids (Submitted April 2024; Not Funded). In NSF EPCN, 2024.

[RP1] Hai Lin, Shirantha Welikala, and Panos J. Antsaklis. Control and Topology Co-Design for Resilient Networked CPS (Submitted Jul 2024; Not Funded). In NSF - Collaborative Research - CPS - Medium, 2024. PI at Stevens; lead PI Hai Lin (Univ. of Notre Dame).

Under Review

[J18] Zihao Song, Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Dissipativity-Based Decentralized Merging and Splitting Control for Quadrotor Networks With Mesh Stability Guarantees. IEEE Trans. on Control Systems Technology (under review), 2026. [Current Version]

[J17] Zhuzhu Wang, Yikui Liu, Shirantha Welikala, and Lei Wu. A Two-Level Semi-Distributed Cooperative Control Strategy for Optimal Primary Frequency Support Sharing Among Wind Turbines. IEEE Trans. on Industrial Informatics (under review), 2026.

[J16] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Inventory Consensus Control in Supply Chain Networks using Dissipativity-Based Control and Topology Co-Design. IEEE Trans. on Systems, Man and Cybernetics: Systems (under review):1-12, 2025. [Submitted Version]

Published
[J15] Shirantha Welikala, Zihao Song, Hai Lin, and Panos J. Antsaklis. Decentralized Co-Design of Distributed Controllers and Communication Topologies for Vehicular Platoons: A Dissipativity-Based Approach. Automatica, 174:112118, 2025. [ScienceDirect]

[J14] Zihao Song, Shirantha Welikala, Panos J. Antsaklis, and Hai Lin. Distributed Adaptive Backstepping Control for Vehicular Platoons With Mismatched Disturbances Using Vector String Lyapunov Functions. IEEE Trans. on Intelligent Transportation Systems, 26(10):15150-15161, 2025. [IEEExplore]

[J13] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. A Decentralized Control Synthesis Approach for Networked Systems with Arbitrary Interconnections. IEEE Trans. on Automatic Control, 69(12):8465-8480, 2024. [IEEExplore]

[J12] Shirantha Welikala, Christos G. Cassandras, Hai Lin, and Panos J. Antsaklis. A New Performance Bound for Submodular Maximization Problems and Its Application to Multi-Agent Optimal Coverage Problems. Automatica, 144:110493, 2022. [ScienceDirect]

[J11] Samuel C. Pinto, Shirantha Welikala, Sean B. Andersson, Julien M. Hendrickx, and Christos G. Cassandras. Minimax Persistent Monitoring of a Network System. Automatica, 149:110808, 2023. [ScienceDirect]

[J10] Shirantha Welikala and Christos G. Cassandras. Distributed Estimation in Network Systems Using Event-Driven Receding Horizon Control. IEEE Trans. on Automatic Control, 68(9):5381-5396, 2023. [IEEExplore]

[J9] Shirantha Welikala and Christos G. Cassandras. Greedy Initialization for Distributed Persistent Monitoring in Network Systems. Automatica, 134:109943, 2021. [ScienceDirect]

[J8] Shirantha Welikala and Christos G. Cassandras. Event-Driven Receding Horizon Control for Distributed Persistent Monitoring in Network Systems. Automatica, 127:109519, 2021. [ScienceDirect]

[J7] Shirantha Welikala and Christos G. Cassandras. Distributed Non-Convex Optimization of Multi-Agent Systems Using Boosting Functions to Escape Local Optima. IEEE Trans. on Automatic Control, 66(11):5175-5190, 2021. [IEEExplore]

[J6] Chuangchuang Sun, Shirantha Welikala, and Christos G. Cassandras. Optimal Composition of Heterogeneous Multi-Agent Teams for Coverage Problems with Performance Bound Guarantees. Automatica, 117:108961, 2020. [ScienceDirect]

[J5] Shirantha Welikala, Neelanga Thelasingha, Muhammed Akram, Parakrama B. Ekanayake, Roshan I. Godaliyadda, and Janaka B. Ekanayake. Implementation of a Robust Real-Time Non-Intrusive Load Monitoring Solution. Applied Energy, 238:1519-1529, 2019. [ScienceDirect]

[J4] Shirantha Welikala, Chinthaka Dinesh, Parakrama B. Ekanayake, Roshan I. Godaliyadda, and Janaka B. Ekanayake. Incorporating Appliance Usage Patterns for Non-Intrusive Load Monitoring and Load Forecasting. IEEE Trans. on Smart Grid, 10(1):448-461, 2019. [IEEExplore]

[J3] Chinthaka Dinesh, Shirantha Welikala, Yasitha S. Liyanage, Parakrama B. Ekanayake, Roshan I. Godaliyadda, and Janaka B. Ekanayake. Non-Intrusive Load Monitoring Under Residential Solar Power Influx. Applied Energy, 205:1068-1080, 2017. [ScienceDirect]

[J2] Zanahul Farnaz, H.S. Sajith, Anuradha Abeysekara, Shirantha Welikala, Prabath J. Binduhewa, Parakrama B. Ekanayake, and Lilantha Samaranayake. DC Motor Torque Control Using State Estimation. Control and Intelligent Systems, 44(3), 2016. [ACTA Press]

[J1] Shirantha Welikala, Dananjaya Liyanage, Anuradha D. Abeysekara, Parakrama B. Ekanayake, Roshan I. Godaliyadda, and Janaka V. Wijayakulasooriya. Control Strategy for Navigation of a Reconnaissance Robotic System. Control and Intelligent Systems, 44(3), 2016. [ACTA Press]

[C32] Theodore Rogalski and Shirantha Welikala. Fully Decentralized and Safety-Aware Multi-Agent Reinforcement Learning for Control on Networks. In Proc. of Innovating the Future: IEEE-HKN Papers Conf. (accepted), 2026. [Accepted Version]

[C31] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Hierarchical Dissipativity-Based Analysis and Control of Epidemic Spreading in Networks. In Proc. of 65th IEEE Conf. on Decision and Control (accepted), 2026. [Accepted Version]

[C30] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Inventory Consensus Control in Supply Chain Networks Using Dissipativity-Based Control and Topology Co-Design. In Proc. of 65th IEEE Conf. on Decision and Control (accepted), 2026. [Accepted Version]

[C29] Mohammad Javad Najafirad and Shirantha Welikala. Dissipativity-Based Control and Communication Co-Design for DC Microgrids with Constant-Power Loads and Input Saturation. In Proc. of 65th IEEE Conf. on Decision and Control (accepted), 2026. [Accepted Version]

[C28] Mohammad Javad Najafirad and Shirantha Welikala. Dissipativity-Based Distributed Control and Communication Topology Co-Design for DC Microgrids with ZIP Loads. In Proc. of American Control Conf., pages 2439-2446, 2026. [IEEExplore]

[C27] Mohammad Javad Najafirad, Shirantha Welikala, Lei Wu, and Panos J. Antsaklis. Dissipativity-Based Distributed Control and Communication Topology Co-Design for Robust AC Microgrids. In Proc. of European Control Conf., pages 3392-3399, 2026. [IEEExplore]

[C26] Mohammad Javad Najafirad and Shirantha Welikala. Dissipativity-Based Distributed Control for Networked DC Microgrids. In Proc. of LSU Symposium on Control, Learning, and Intelligent Systems, 2026. [LSU Repository]

[C25] Mohammad Javad Najafirad and Shirantha Welikala. Dissipativity-Based Distributed Droop-Free Control and Communication Topology Co-Design for DC Microgrids. In Proc. of American Control Conf., pages 1153-1160, 2025. [IEEExplore]

[C24] Zihao Song, Shirantha Welikala, Panos J. Antsaklis, and Hai Lin. Dissipativity-Based Decentralized Control and Topology Co-Design for Vehicular Platoons With Disturbance String Stability. In Proc. of 63rd IEEE Conf. on Decision and Control, pages 2417-2422, 2024. [IEEExplore]

[C23] Shirantha Welikala and Christos G. Cassandras. Performance-Guaranteed Solutions for Multi-Agent Optimal Coverage Problems using Submodularity, Curvature, and Greedy Algorithms. In Proc. of 63rd IEEE Conf. on Decision and Control, pages 5379-5386, 2024. [IEEExplore]

[C22] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Decentralized and Compositional Interconnection Topology Synthesis for Linear Networked Systems. In Proc. of 31st Mediterranean Conf. on Control and Automation, pages 728-733, 2023. [IEEExplore]

[C21] Zihao Song, Shirantha Welikala, Panos J. Antsaklis, and Hai Lin. Adaptive Backstepping Control for Vehicular Platoons with Mismatched Disturbances Using Vector String Lyapunov Functions. In Proc. of American Control Conf., pages 4525-4530, 2023. [IEEExplore]

[C20] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Non-Linear Networked Systems Analysis and Synthesis using Dissipativity Theory. In Proc. of American Control Conf., pages 2951-2956, 2023. [IEEExplore]

[C19] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. On-line Estimation of Stability and Passivity Metrics. In Proc. of 61st IEEE Conf. on Decision and Control, pages 267-272, 2022. [IEEExplore]

[C18] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. A Generalized Distributed Analysis and Control Synthesis Approach for Networked Systems with Arbitrary Interconnections. In Proc. of 30th Mediterranean Conf. on Control and Automation, pages 803-808, 2022. [IEEExplore]

[C17] Zihao Song, Vince Kurtz, Shirantha Welikala, Panos J. Antsaklis, and Hai Lin. Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances. In Proc. of American Control Conf., pages 1543-1548, 2022. [IEEExplore]

[C16] Shirantha Welikala and Christos G. Cassandras. Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring. In Proc. of 60th IEEE Conf. on Decision and Control, pages 1898-1904, 2021. [IEEExplore]

[C15] Shirantha Welikala and Christos G. Cassandras. Event-Driven Receding Horizon Control for Distributed Estimation in Network Systems. In Proc. of American Control Conf., pages 1559-1564, 2021. [IEEExplore]

[C14] Shirantha Welikala and Christos G. Cassandras. Event-Driven Receding Horizon Control For Distributed Persistent Monitoring on Graphs. In Proc. of 59th IEEE Conf. on Decision and Control, pages 92-97, 2020. [IEEExplore]

[C13] Shirantha Welikala and Christos G. Cassandras. Asymptotic Analysis for Greedy Initialization of Threshold-Based Distributed Optimization of Persistent Monitoring on Graphs. In Proc. of 21st IFAC World Congress, 53, pages 3433-3438, 2020. [ScienceDirect]

[C12] Shirantha Welikala and Christos G. Cassandras. Distributed Non-Convex Optimization of Multi-agent Systems Using Boosting Functions to Escape Local Optima. In Proc. of American Control Conf., pages 2723-2728, 2020. [IEEExplore]

[C11] Yasitha S. Liyanage, Shirantha Welikala, Chinthaka Dinesh, Parakrama B. Ekanayake, Roshan I. Godaliyadda, and Janaka B. Ekanayake. Real-Time Non-Intrusive Appliance Load Monitoring Under Supply Voltage Fluctuations. In Proc. of 17th IEEE Intl. Conf. on Advances in ICT for Emerging Regions, pages 106-114, 2017. [IEEExplore]

[C10] Jagannath Wijekoon, Yasitha Liyanage, Shirantha Welikala, and Lilantha Samaranayake. Yaw and Pitch Control of a Twin Rotor MIMO System. In Proc. of 12th IEEE Intl. Conf. on Industrial and Information Systems, 2017. [IEEExplore]

[C9] Jagannath Wijekoon, Yasitha Liyanage, Shirantha Welikala, and Lilantha Samaranayake. Pitch Control of a Twin Rotor System Using Error Dynamics Based Nonlinear Controller. In Institute of Engineers Sri Lanka (IESL) Transactions, pages 349-353, 2017. [IESL Proc.]

[C8] R.A.G.U.U. Ranathunga, S. Haputhanthri, E.D.K.S. Siriwardhana, M.P.B. Ekanayake, G.M.R.I. Godaliyadda, B.G.L.T. Samaranayake, J.J. Wijetunga, and W.R.C.B.S. Welikala. Designing of a Non-Linear Controller for an Autonomous Underwater Mobile Robotic System. In Proc. of Peradeniya Univ. Intl. Research Sessions, 2016. [Published Version]

[C7] Shirantha Welikala, Chinthaka Dinesh, Parakrama B. Ekanayake, Roshan I. Godaliyadda, and Janaka B. Ekanayake. A Real-Time Non-Intrusive Load Monitoring System. In Proc. of 11th IEEE Intl. Conf. on Industrial and Information Systems, pages 850-855, 2016. [IEEExplore]

[C6] Shirantha Welikala, Chinthaka Dinesh, Roshan I. Godaliyadda, Parakrama B. Ekanayake, and Janaka B. Ekanayake. Robust Non-Intrusive Load Monitoring (NILM) with Unknown Loads. In Proc. of IEEE Intl . Conf. on Information and Automation for Sustainability, pages 1-6, 2016. [IEEExplore]

[C5] W.R.C.B.S. Welikala, D.P. Liyanage, A.H.A.D. Abeysekara, M.P.B. Eakanayake, G.M.R.I. Godaliyadda, and J.V. Wijayakulasooriya. Versatile Non-Linear Control Strategy for Reconnaissance Robotic System. In Proc. of 10th IEEE Intl. Conf. on Industrial and Information Systems, pages 332-337, 2015. [IEEExplore]

[C4] A.H.A.D. Abeysekara, D.P. Liyanage, W.R.C.B.S. Welikala, G.M.R.I. Godaliyadda, M.P.B. Eakanayake, and J.V. Wijayakulasooriya. Depth Map Generation for a Reconnaissance Robot via Sensor Fusion. In Proc. of 10th IEEE Intl. Conf. on Industrial and Information Systems, pages 320-325, 2015. [IEEExplore]

[C3] D.P. Liyanage, W.R.C.B.S. Welikala, G.M.R.I. Godaliyadda, M.P.B. Ekanayake, and J.V. Wijayakulasooriya. Accurate Depth Map from Stereo Web Camera Setup. In Proc. of Peradeniya Univ. Intl. Research Sessions, pages 91, 2015. [iPURSe Proc.]

[C2] W.R.C.B.S. Welikala, A.H.A.D. Abeysekara, G.M.R.I. Godaliyadda, M.P.B. Ekanayake, and J.V. Wijayakulasooriya. Odometry-Based Positioning and Navigation System for Indoor Omnidirectional Robot. In Proc. of Peradeniya Univ. Intl. Research Sessions, pages 92, 2015. [iPURSe Proc.]

[C1] W.R.C.B.S. Welikala, A.H.A.D. Abeysekara, D.P. Liyanage, M.P.B. Ekanayake, G.M.R.I. Godaliyadda, and J.V. Wijayakulasooriya. Multi Sensor Fusion for Position and Indoor Navigation. In Institute of Engineers Sri Lanka (IESL) Transactions, pages 445-453, 2015. [Published Version]

[A28] Shirantha Welikala, Zihao Song, Hai Lin, and Panos J. Antsaklis. Model-Based and Data-Driven Hierarchical Control and Topology Co-Design for Robust Networked Systems. arXiv e-prints, 2026. [ArXiv ID: 2606.11596]

[A27] Mohammad Javad Najafirad and Shirantha Welikala. Dissipativity-Based Distributed Control and Communication Topology Co-Design for Nonlinear DC Microgrids. arXiv e-prints, 2026. [ArXiv ID: 2603.27427]

[A26] Vidyut Pradeep and Shirantha Welikala. Modeling PWM-Time-SOC Interaction in a Simulated Robot. arXiv e-prints, 2026. [ArXiv ID: 2603.00319]

[A25] Mohammad Javad Najafirad, Shirantha Welikala, Lei Wu, and Panos J. Antsaklis. Dissipativity-Based Synthesis of Distributed Control and Communication Topology Co-Design for AC Microgrids. arXiv e-prints, 2025. [ArXiv ID: 2511.06576]

[A24] Zihao Song, Shirantha Welikala, Panos J. Antsaklis, and Hai Lin. Funnel-Based Online Recovery Control for Nonlinear Systems With Unknown Dynamics. arXiv e-prints, 2025. [ArXiv ID: 2511.04626]

[A23] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Hierarchical Analysis and Control of Epidemic Spreading over Networks using Dissipativity and Mesh Stability. arXiv e-prints, 2025. [ArXiv ID: 2509.24665]

[A22] Zihao Song, Shirantha Welikala, Panos J. Antsaklis, and Hai Lin. Graph Neural Network-Based Distributed Optimal Control for Linear Networked Systems: An Online Distributed Training Approach. arXiv e-prints, 2025. [ArXiv ID: 2504.06439]

[A21] Zihao Song, Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Mesh Stability Guaranteed Rigid Body Networks Using Control and Topology Co-Design. arXiv e-prints, 2025. [ArXiv ID: 2505.10723]

[A20] Mohammad Javad Najafirad and Shirantha Welikala. Dissipativity-Based Distributed Control and Communication Topology Co-Design for DC Microgrids with ZIP Loads. arXiv e-prints, 2025. [ArXiv ID: 2503.21042]

[A19] Mohammad Javad Najafirad and Shirantha Welikala. Dissipativity-Based Distributed Control and Communication Topology Co-Design for Voltage Regulation and Current Sharing in DC Microgrids. arXiv e-prints, 2025. [ArXiv ID: 2503.04908]

[A18] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Inventory Consensus Control in Supply Chain Networks using Dissipativity-Based Control and Topology Co-Design. arXiv e-prints, 2025. [ArXiv ID: 2502.06580]

[A17] Mohammad Javad Najafirad and Shirantha Welikala. Dissipativity-Based Distributed Droop-Free Controller and Communication Topology Co-Design for DC Microgrids. arXiv e-prints, 2024. [ArXiv ID: 2404.18210]

[A16] Shirantha Welikala and Christos G. Cassandras. Performance-Guaranteed Solutions for Multi-Agent Optimal Coverage Problems using Submodularity, Curvature, and Greedy Algorithms. arXiv e-prints, 2024. [ArXiv ID: 2403.14028]

[A15] Shirantha Welikala, Zihao Song, Hai Lin, and Panos J. Antsaklis. Dissipativity-Based Decentralized Co-Design of Distributed Controllers and Communication Topologies for Vehicular Platoons. arXiv e-prints, 2023. [ArXiv ID: 2312.06472]

[A14] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Smooth Robustness Measures for Symbolic Control Via Signal Temporal Logic. arXiv e-prints, 2023. [ArXiv ID: 2305.09116]

[A13] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Decentralized and Compositional Interconnection Topology Synthesis for Linear Networked Systems. arXiv e-prints, 2023. [ArXiv ID: 2305.03030]

[A12] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. Centralized and Decentralized Techniques for Analysis and Synthesis of Non-Linear Networked Systems. arXiv e-prints, 2022. [ArXiv ID: 2209.14552]

[A11] Zihao Song, Shirantha Welikala, Panos J. Antsaklis, and Hai Lin. Distributed Adaptive Backstepping Control for Vehicular Platoons with Mismatched Disturbances Using Vector String Stability. arXiv e-prints, 2022. [ArXiv ID: 2207.02101]

[A10] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. A Generalized Distributed Analysis and Control Synthesis Approach for Networked Systems with Arbitrary Interconnections. arXiv e-prints, 2022. [ArXiv ID: 2204.09756]

[A9] Shirantha Welikala, Hai Lin, and Panos J. Antsaklis. On-line Estimation of Stability and Passivity Metrics. arXiv e-prints, 2022. [ArXiv ID: 2204.00073]

[A8] Zihao Song, Vince Kurtz, Shirantha Welikala, Panos J. Antsaklis, and Hai Lin. Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances. arXiv e-prints, 2022. [ArXiv ID: 2203.02084]

[A7] Samuel C. Pinto, Shirantha Welikala, Sean B. Andersson, Julien M. Hendrickx, and Christos G. Cassandras. Minimax Multi-Agent Persistent Monitoring of a Network System. arXiv e-prints, 2022. [ArXiv ID: 2201.06607]

[A6] Shirantha Welikala and Christos G. Cassandras. Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring. arXiv e-prints, 2021. [ArXiv ID: 2102.12963]

[A5] Shirantha Welikala and Christos G. Cassandras. Event-Driven Receding Horizon Control for Distributed Estimation in Network Systems. arXiv e-prints, 2020. [ArXiv ID: 2009.11958]

[A4] Shirantha Welikala and Christos G. Cassandras. Event-Driven Receding Horizon Control For Distributed Persistent Monitoring in Network Systems. arXiv e-prints, 2020. [ArXiv ID: 2003.11713]

[A3] Chuangchuang Sun, Shirantha Welikala, and Christos G. Cassandras. Optimal Composition of Heterogeneous Multi-Agent Teams for Coverage Problems with Performance Bound Guarantees. arXiv e-prints, 2020. [ArXiv ID: 2003.05587]

[A2] Shirantha Welikala and Christos G. Cassandras. Asymptotic Analysis for Greedy Initialization of Threshold-Based Distributed Optimization of Persistent Monitoring on Graphs. arXiv e-prints, 2019. [ArXiv ID: 1911.02658]

[A1] Shirantha Welikala and Christos G. Cassandras. Distributed Non-Convex Optimization of Multi-Agent Systems Using Boosting Functions to Escape Local Optima: Theory and Applications. arXiv e-prints, 2019. [ArXiv ID: 1903.04133] 

[T1] Shirantha Welikala. Overcoming Local Optima in Control and Optimization of Cooperative Multi-Agent Systems. Boston University:233, 2021. [Link]