Research

Overview

I am a member of the Hybrid and Networked Systems Lab and the Multi-Robot Systems Lab at Boston University under the supervision of Professors Calin Belta and Mac Schwager, respectively. My research focuses on formal methods in planning for multi-agent systems. My current projects include a focus on informative path planning and target tracking. For more information, see my CV, or my publication list below.

Research presented at ISER 2014 in Marrakech, Morocco

Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints

Publications

Journal Publications

Leahy, K., Zhou, D., Vasile, C.-I., Oikonomopoulos, K., Schwager, M., and Belta,
C. “Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging and
Temporal Logic Constraints.” Autonomous Robots, 2015.

Phelps, C., O’Sullivan, A., Ladapo, J., Weinstein, M.C., Leahy, K., and Douglas,
P. “Cost-effectiveness of a gene expression score and myocardial perfusion imaging
for diagnosis of coronary artery disease.” American Heart Journal, 167(5):697-706,
2014.

Lawrence, D., Maschio, M., Leahy, K., Yunger, S., Easaw, J., and Weinstein,
M.C. “Economic analysis of bevacizumab, cetuximab, and panitumumab with
fluoropyrimidine based chemotherapy in the first line treatment of KRAS wild-
type metastatic colorectal cancer (mCRC).” Journal of Medical Economics, 16(12):1387-1398, 2013.

Parthan, A., Leahy, K., O’Sullivan, A., Iakoubova, O., Bare, L., Devlin, J., and
Weinstein, M.C. “Cost-effectiveness of targeted high-dose atorvastatin therapy
following genotype testing in patients with acute coronary syndrome.” Pharmacoeconomics, 31(6):519-531, 2013.

Conference Publications

Leahy, K., and Schwager, M. “Always Choose Second Best: Tracking a Moving
Target on a Graph with a Noisy Binary Sensor”, In Proc. of the European Control
Conference (ECC), Aalborg, Denmark, 2016. Accepted.

Leahy, K., Kannappan, P., Jardine, A., Tanner, H., Heinz, J., and Belta, C.
“Integration of Deterministic Inference with Formal Synthesis for Control under
Uncertainty”. In Proc. of the American Control Conference (ACC), Boston,
Massachusetts, 2016. Accepted.

Leahy, K., Jones, A., Schwager, M., and Belta, C. “Distributed Information
Gathering Policies under Temporal Logic Constraints”, In Proc. of the IEEE
Conference on Decision and Control (CDC), Osaka, Japan, 2015.

Aksaray, D., Leahy, K., and Belta, C. “Distributed Multi-Agent Persistent Surveillance
Under Temporal Logic Constraints”, 5th IFAC Workshop on Distributed Estimation
and Control in Networked Systems, Philadelphia, USA, 2015.

Svorenova, M., Chmelik, M., Leahy, K., Ferit Eniser, H., Chatterjee, K., Cerna,
I., and Belta, C. “Temporal Logic Motion Planning using POMDPs with Parity
Objectives”, Hybrid Systems: Computation and Control (HSCC) 2015

Leahy, K., Zhou, D., Vasile, C.-I., Oikonomopoulos, K., Schwager, M., and Belta,
C. “Provably correct persistent surveillance for unmanned aerial vehicles subject to
charging constraints.” In Proc. of the International Symposium on Experimental
Robotics (ISER 14), Marrakech, Morocco, June 2014.

Phelps, C., Douglas, P., O’Sullivan, A., Deflin, M., Leahy, K., Elashoff, M., and
Ladapo, J. “Cost-effectiveness of a gene expression score and myocardial perfusion
imaging for diagnosis of coronary artery disease.” The 34th Annual Meeting of the
Society for Medical Decision Making. Phoenix, AZ, USA, October 2012.

Parthan, A., Iakoubova, O., Leahy, K., O’Sullivan, A., Bare, L., Devlin, J.,
Weinstein, M.C., and Luke, M. “Cost-effectiveness of targeted statin therapy
following genotype testing among acute coronary syndrome patients.” The 16th
World Congress on Heart Disease. Vancouver, BC, Canada, July 2011.

Taylor, D., Leahy, K., andWeinstein, M.C. “Representing uncertainty in calibrated
cancer treatment models: a practical approach.” The International Society for
Pharmacoeconomics and Outcomes Research 16th Annual International Meeting.
Baltimore, MD, USA, May 2011.

Campbell, J., Tao, C., Keith, M., Leahy, K., and Russo, L. “The pharmacy
budget impact of extending reimbursement of lanthanum carbonate to treatment
of hyperphosphatemia (> 1:78 mmol/L) in patients with chronic kidney disease
pre-dialysis in France and the United Kingdom.” The International Society for
Pharmacoeconomics and Outcomes Research 13th Annual European Congress.
Prague, Czech Republic, November 2010.

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