Research output

Research output per year 2007 2020 2021 2022 2023 2024

• 174 Conference contribution
• 76 Article
• 27 Conference article
• 21 Chapter
• 5 More
  • 2 Paper
  • 1 Comment/debate
  • 1 Editorial
  • 1 Review article

Research output per year

Research output per year

Search results

• 2023

  BITS: Bi-level Imitation for Traffic Simulation

  Xu, D., Chen, Y., Ivanovic, B. & Pavone, M., 2023, Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 2929-2936 8 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2023-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Driving Dataset 100%
  • Simulation Performance 74%
  • Behavior Imitation 49%
  • Sensor Simulation 49%
  • Intention Inference 49%
  22 Citations (Scopus)

• Closing the Loop on Runtime Monitors with Fallback-Safe MPC

  Sinha, R., Schmerling, E. & Pavone, M., 2023, 2023 62nd IEEE Conference on Decision and Control, CDC 2023. Institute of Electrical and Electronics Engineers Inc., p. 6533-6540 8 p. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Safe Model 100%
  • Runtime Monitor 100%
  • Predictive Model 100%
  • Photorealistic 33%
  • Controller Calibration 33%
  2 Citations (Scopus)

• Credit-Based Congestion Pricing: Equilibrium Properties and Optimal Scheme Design

  Jalota, D., Lazarus, J., Bayen, A. & Pavone, M., 2023, 2023 62nd IEEE Conference on Decision and Control, CDC 2023. Institute of Electrical and Electronics Engineers Inc., p. 4124-4129 6 p. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Pricing Equilibrium 100%
  • Credit Based 100%
  • Optimal Scheme 100%
  • Scheme Design 100%
  • Game Model 50%

• Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots

  Alora, J. I., Cenedese, M., Schmerling, E., Haller, G. & Pavone, M., 2023, Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 2627-2633 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2023-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Nonlinear Optimal Control 100%
  • Submanifold 100%
  • Optimal Control 100%
  • Low-dimensional Models 33%
  • Dominant Dynamics 33%
  14 Citations (Scopus)

• Data Lifecycle Management in Evolving Input Distributions for Learning-based Aerospace Applications

  Banerjee, S., Sharma, A., Schmerling, E., Spolaor, M., Nemerouf, M. & Pavone, M., 2023, Computer Vision – ECCV 2022 Workshops, Proceedings. Karlinsky, L., Michaeli, T. & Nishino, K. (eds.). Springer Science and Business Media Deutschland GmbH, p. 127-142 16 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 13801 LNCS).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Input Distribution 100%
  • Aerospace Applications 100%
  • Information Lifecycle Management 100%
  • Lifecycle Management 100%
  • Data Lifecycle 100%
  1 Citation (Scopus)

• Data Lifecycle Management in Evolving Input Distributions for Learning-Based Aerospace Applications

  Banerjee, S., Sharma, A., Schmerling, E., Spolaor, M., Nemerouf, M. & Pavone, M., 2023, 2023 IEEE Aerospace Conference, AERO 2023. IEEE Computer Society, (IEEE Aerospace Conference Proceedings; vol. 2023-March).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Information Lifecycle Management 100%
  • Input Distribution 100%
  • Lifecycle Management 100%
  • Data Lifecycle 100%
  • Lifecycle Data 100%
  1 Citation (Scopus)

• Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission

  Newdick, S., Chen, T. G., Hockman, B., Schmerling, E., Cutkosky, M. R. & Pavone, M., 2023, 2023 IEEE Aerospace Conference, AERO 2023. IEEE Computer Society, (IEEE Aerospace Conference Proceedings; vol. 2023-March).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Lava Tube 100%
  • Terrain Parameters 50%
  • Deployable Boom 50%
  • Mission Requirements 50%
  • First-order Approximation 50%
  8 Citations (Scopus)

• Differentially Private Stochastic Convex Optimization for Network Routing Applications

  Tsao, M., Gopalakrishnan, K., Yang, K. & Pavone, M., 2023, 2023 62nd IEEE Conference on Decision and Control, CDC 2023. Institute of Electrical and Electronics Engineers Inc., p. 7475-7482 8 p. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Stochastic Convex Optimization 100%
  • Conservation Constraint 20%
  • Private Variants 20%
  • Flow Conservation 20%
  • Road Traffic Network 20%
  3 Citations (Scopus)

• Exact Characterization of the Convex Hulls of Reachable Sets

  Lew, T., Bonalli, R. & Pavone, M., 2023, 2023 62nd IEEE Conference on Decision and Control, CDC 2023. Institute of Electrical and Electronics Engineers Inc., p. 52-59 8 p. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Approximation (Algorithm) 100%
  • Predictive Model 100%
  • Nonlinear System 100%
  • Initial Value 100%
  • Feedback Loop 100%

• Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning

  Ivanovic, B., Harrison, J. & Pavone, M., 2023, Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 7786-7793 8 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2023-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Prediction Model 100%
  • Design Domain 100%
  • Operational Design 50%
  • Autonomous System 50%
  • Geographic Region 50%
  13 Citations (Scopus)

• Guided Conditional Diffusion for Controllable Traffic Simulation

  Zhong, Z., Rempe, D., Xu, D., Chen, Y., Veer, S., Che, T., Ray, B. & Pavone, M., 2023, Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 3560-3566 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2023-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Traffic Generation 100%
  • Conditioned Diffusion 100%
  • Composite Simpson Rule 50%
  • Physical Feasibility 50%
  • Conditional Diffusion Models 50%
  37 Citations (Scopus)

• Interpretable Trajectory Prediction for Autonomous Vehicles via Counterfactual Responsibility

  Hsu, K. C., Leung, K., Chen, Y., Fisac, J. F. & Pavone, M., 2023, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023. Institute of Electrical and Electronics Engineers Inc., p. 5918-5925 8 p. (IEEE International Conference on Intelligent Robots and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Phenomenological Method 100%
  • Vehicle Behavior Prediction 33%
  • Traffic Dataset 33%
  • Interaction Agents 33%
  • Scene Context 33%
  1 Citation (Scopus)

• Learning Autonomous Vehicle Safety Concepts from Demonstrations

  Leung, K., Veer, S., Schmerling, E. & Pavone, M., 2023, 2023 American Control Conference, ACC 2023. Institute of Electrical and Electronics Engineers Inc., p. 3193-3200 8 p. (Proceedings of the American Control Conference; vol. 2023-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Autonomous Vehicle Safety 100%
  • Autonomous Vehicles 100%
  • Vehicle Safety 100%
  • Behavioral Assumptions 40%
  • Safety Model 20%
  2 Citations (Scopus)

• Learning Responsibility Allocations for Safe Human-Robot Interaction with Applications to Autonomous Driving

  Cosner, R. K., Chen, Y., Leung, K. & Pavone, M., 2023, Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 9757-9763 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2023-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Allocation of Responsibility 100%
  • Safe Human-robot Interaction 100%
  • Learning Responsibility 100%
  • Control Barrier Functions 66%
  • Critical Control 50%
  3 Citations (Scopus)

• Motion Planning for a Climbing Robot with Stochastic Grasps

  Newdick, S., Ongole, N., Chen, T. G., Schmerling, E., Cutkosky, M. R. & Pavone, M., 2023, Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 11838-11844 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2023-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Motion Planner 100%
  • Climbing Robot 100%
  • Terrain Features 100%
  • End Effector 100%
  • Individual Phase 100%
  7 Citations (Scopus)

• Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagation

  Yang, H. & Pavone, M., 2023, Proceedings - 2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2023. IEEE Computer Society, p. 8947-8958 12 p. (Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition; vol. 2023-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Object Pose Estimation 100%
  • Keypoint Detection 100%
  • Uncertainty Propagation 100%
  • Statistical Guarantees 100%
  • Detection Uncertainty 100%
  17 Citations (Scopus)

• Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models

  Christianos, F., Karkus, P., Ivanovic, B., Albrecht, S. V. & Pavone, M., 2023, Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 5558-5565 8 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2023-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Variational 100%
  • Traffic Agent 100%
  • Autonomous Vehicles 100%
  • Deep Learning Model 100%
  • Behavior (Neuroscience) 100%
  7 Citations (Scopus)

• Practical Deployment of Spectral Submanifold Reduction for Optimal Control of High-Dimensional Systems

  Alora, J. I., Cenedese, M., Schmerling, E., Haller, G. & Pavone, M., Jul 1 2023, IFAC-PapersOnLine. Ishii, H., Ebihara, Y., Imura, J.-I. & Yamakita, M. (eds.). 2 ed. Elsevier B.V., p. 4074-4081 8 p. (IFAC-PapersOnLine; vol. 56, no. 2).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • World Application 100%
  • Observational Data 100%
  • time-delay 100%
  • Nonlinear System 100%
  • Generalizability 100%
  3 Citations (Scopus)

• Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles

  Veer, S., Leung, K., Cosner, R. K., Chen, Y., Karkus, P. & Pavone, M., 2023, Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 1507-1513 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2023-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Reward Structure 100%
  • Receding Horizon Planning 100%
  • Rank Preservation 100%
  • Planning Horizon 100%
  • Importance Ranking 50%
  3 Citations (Scopus)

• Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition

  Topan, S., Chen, Y., Schmerling, E., Leung, K., Nilsson, J., Cox, M. & Pavone, M., 2023, IV 2023 - IEEE Intelligent Vehicles Symposium, Proceedings. Institute of Electrical and Electronics Engineers Inc., (IEEE Intelligent Vehicles Symposium, Proceedings; vol. 2023-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Comminution 100%
  • Imminent Threat 100%
  • Behavior (Neuroscience) 100%
  • Safety-critical 40%
  • Perception Module 40%
  1 Citation (Scopus)

• Robust Nonlinear Reduced-Order Model Predictive Control

  Alora, J. I., Pabon, L. A., Kohler, J., Cenedese, M., Schmerling, E., Zeilinger, M. N., Haller, G. & Pavone, M., 2023, 2023 62nd IEEE Conference on Decision and Control, CDC 2023. Institute of Electrical and Electronics Engineers Inc., p. 4798-4805 8 p. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Predictive Control Model 100%
  • Reduced Order Model 100%
  • Nonlinear Reduced-order Model 100%
  • Dimensional System 100%
  • Control Scheme 75%
  1 Citation (Scopus)

• Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems

  Wu, A., Lew, T., Solovey, K., Schmerling, E. & Pavone, M., 2023, Robotics Research. Billard, A., Asfour, T. & Khatib, O. (eds.). Springer Nature, p. 538-554 17 p. (Springer Proceedings in Advanced Robotics; vol. 27 SPAR).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Robust Motion Planning 50%
  • Global Motion 50%
  • Trajectory Synthesis 50%
  • Initial Position 50%
  • Bounded Uncertainty 50%
  5 Citations (Scopus)

• Sample-Efficient Safety Assurances Using Conformal Prediction

  Luo, R., Zhao, S., Kuck, J., Ivanovic, B., Savarese, S., Schmerling, E. & Pavone, M., 2023, Algorithmic Foundations of Robotics XV - Proceedings of the Fifteenth Workshop on the Algorithmic Foundations of Robotics. LaValle, S. M., O’Kane, J. M., Otte, M., Sadigh, D. & Tokekar, P. (eds.). Springer Nature, p. 149-169 21 p. (Springer Proceedings in Advanced Robotics; vol. 25 SPAR).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • False Negative Rate 100%
  • Safety Assurance 100%
  • Sampling Efficiency 100%
  • Conformal Prediction 100%
  • False Negative 100%
  15 Citations (Scopus)

• Tree-structured Policy Planning with Learned Behavior Models

  Chen, Y., Karkus, P., Ivanovic, B., Weng, X. & Pavone, M., 2023, Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 7902-7908 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2023-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Deep Learning Prediction 100%
  • Continuous Optimization 75%
  • Environmental Prediction 50%
  • Continuous Optimization Problem 50%
  • Planning Scale 50%
  9 Citations (Scopus)

• Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation

  Kang, S., Chen, Y., Yang, H. & Pavone, M., 2023, 2023 62nd IEEE Conference on Decision and Control, CDC 2023. Institute of Electrical and Electronics Engineers Inc., p. 8215-8222 8 p. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Polynomial Optimization 100%
  • Robust Control Barrier Functions 100%
  • Control Barrier Function 100%
  • Robust Control 100%
  • Synthesis Problem 40%
  3 Citations (Scopus)
• 2022

  Adaptive Robust Model Predictive Control with Matched and Unmatched Uncertainty

  Sinha, R., Harrison, J., Richards, S. M. & Pavone, M., 2022, 2022 American Control Conference, ACC 2022. Institute of Electrical and Electronics Engineers Inc., p. 906-913 8 p. (Proceedings of the American Control Conference; vol. 2022-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Predictive Control Algorithm 100%
  • Discrete Time System 100%
  • Numerical Prediction 100%
  • Uncertain Function 100%
  • Nonlinear Adaptive Control 50%
  8 Citations (Scopus)

• AdvDO: Realistic Adversarial Attacks for Trajectory Prediction

  Cao, Y., Xiao, C., Anandkumar, A., Xu, D. & Pavone, M., 2022, Computer Vision – ECCV 2022 - 17th European Conference, Proceedings. Avidan, S., Brostow, G., Cissé, M., Farinella, G. M. & Hassner, T. (eds.). Springer Science and Business Media Deutschland GmbH, p. 36-52 17 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 13665 LNCS).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Adversarial Robustness 100%
  • Adversarial Machine Learning 100%
  • Autonomous Vehicles 50%
  • General Planning 33%
  • General Metric 33%
  28 Citations (Scopus)

• Balancing Fairness and Efficiency in Traffic Routing via Interpolated Traffic Assignment

  Jalota, D., Solovey, K., Tsao, M., Zoepf, S. & Pavone, M., 2022, International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2022. International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS), p. 678-686 9 p. (Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS; vol. 2).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Traffic Assignment 100%
  • Unfairness 80%
  • Feasible Solution 50%
  • Problem Solution 50%
  • High System Efficiency 42%
  3 Citations (Scopus)

• Bilevel Optimization for Planning Through Contact: A Semidirect Method

  Landry, B., Lorenzetti, J., Manchester, Z. & Pavone, M., 2022, Robotics Research - The 19th International Symposium ISRR. Asfour, T., Yoshida, E., Park, J., Christensen, H. & Khatib, O. (eds.). Springer Nature, p. 789-804 16 p. (Springer Proceedings in Advanced Robotics; vol. 20 SPAR).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Semidirect 100%
  • Bilevel Optimisation 100%
  • Periodic Gait 50%
  • Quadruped 50%
  • Object Manipulation 50%
  1 Citation (Scopus)

• Coordinated Multi-Agent Pathfinding for Drones and Trucks over Road Networks

  Choudhury, S., Solovey, K., Kochenderfer, M. & Pavone, M., 2022, International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2022. International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS), p. 272-280 9 p. (Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS; vol. 1).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Multi-agent Planning 100%
  • Commodity Hardware 50%
  • Defined Network 50%
  • Finding Problem 50%
  • Truck-drone 28%
  10 Citations (Scopus)

• Graph Meta-Reinforcement Learning for Transferable Autonomous Mobility-on-Demand

  Gammelli, D., Yang, K., Harrison, J., Rodrigues, F., Pereira, F. & Pavone, M., Aug 14 2022, KDD 2022 - Proceedings of the 28th ACM SIGKDD Conference on Knowledge Discovery and Data Mining. Association for Computing Machinery, p. 2913-2923 11 p. (Proceedings of the ACM SIGKDD International Conference on Knowledge Discovery and Data Mining).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Meta-reinforcement Learning 100%
  • Decision Quality 33%
  • New Cities 16%
  • Special Events 16%
  • City Scenarios 16%
  14 Citations (Scopus)

• Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty

  Ivanovic, B., Lee, K. H., Tokmakov, P., Wulfe, B., McLlister, R., Gaidon, A. & Pavone, M., 2022, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. Institute of Electrical and Electronics Engineers Inc., p. 12196-12203 8 p. (IEEE International Conference on Intelligent Robots and Systems; vol. 2022-October).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Class Probability 100%
  • Class Uncertainty 100%
  • Robot Navigation 100%
  • Multiplicity 100%
  • Chal 33%
  16 Citations (Scopus)

• Injecting Planning-Awareness into Prediction and Detection Evaluation

  Ivanovic, B. & Pavone, M., 2022, 2022 IEEE Intelligent Vehicles Symposium, IV 2022. Institute of Electrical and Electronics Engineers Inc., p. 821-828 8 p. (IEEE Intelligent Vehicles Symposium, Proceedings; vol. 2022-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Task-aware 100%
  • Evaluation Metric 100%
  • Autonomous Driving 100%
  • Step-back 50%
  • Driving Data 50%
  16 Citations (Scopus)

• Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation

  Topan, S., Leung, K., Chen, Y., Tupekar, P., Schmerling, E., Nilsson, J., Cox, M. & Pavone, M., 2022, 2022 IEEE Intelligent Vehicles Symposium, IV 2022. Institute of Electrical and Electronics Engineers Inc., p. 1201-1210 10 p. (IEEE Intelligent Vehicles Symposium, Proceedings; vol. 2022-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Dynamic Interaction 100%
  • Baseline Approach 49%
  • Control Theory 49%
  • It Operation 49%
  • Criticality 49%
  11 Citations (Scopus)

• Local Calibration: Metrics and Recalibration

  Luo, R., Bhatnagar, A., Bai, Y., Zhao, S., Wang, H., Xiong, C., Savarese, S., Ermon, S., Schmerling, E. & Pavone, M., 2022, Proceedings of the 38th Conference on Uncertainty in Artificial Intelligence, UAI 2022. Association For Uncertainty in Artificial Intelligence (AUAI), p. 1286-1295 10 p. (Proceedings of the 38th Conference on Uncertainty in Artificial Intelligence, UAI 2022).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Local Calibration 100%
  • Calibration Metric 100%
  • Confidence Score 100%
  • Decision-Making 20%
  • Classification Task 20%
  5 Citations (Scopus)

• Motron: Multimodal Probabilistic Human Motion Forecasting

  Salzmann, T., Pavone, M. & Ryll, M., 2022, Proceedings - 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2022. IEEE Computer Society, p. 6447-6456 10 p. (Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition; vol. 2022-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Center of Gravity Position 100%
  • Human Motion Forecasting 100%
  • Motion Forecasting 100%
  • Deterministic Maximum Likelihood 100%
  • Interaction Loop 100%
  15 Citations (Scopus)

• MTP: Multi-hypothesis Tracking and Prediction for Reduced Error Propagation

  Weng, X., Ivanovic, B. & Pavone, M., 2022, 2022 IEEE Intelligent Vehicles Symposium, IV 2022. Institute of Electrical and Electronics Engineers Inc., p. 1218-1225 8 p. (IEEE Intelligent Vehicles Symposium, Proceedings; vol. 2022-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Multiple Hypothesis Tracking 100%
  • Multi-hypothesis Prediction 100%
  • Prediction Performance 100%
  • Even Order 50%
  • Past Trajectories 50%
  10 Citations (Scopus)

• Private Location Sharing for Decentralized Routing Services

  Tsao, M., Yang, K., Gopalakrishnan, K. & Pavone, M., 2022, 2022 IEEE 25th International Conference on Intelligent Transportation Systems, ITSC 2022. Institute of Electrical and Electronics Engineers Inc., p. 2479-2486 8 p. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; vol. 2022-October).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Routing Service 100%
  • Laplace Mechanism 20%
  • Privacy-preserving Computation 20%
  • Privacy Guarantees 20%
  • User Trajectory 20%
  4 Citations (Scopus)

• Propagating State Uncertainty Through Trajectory Forecasting

  Ivanovic, B., Lin, Y., Shrivastava, S., Chakravarty, P. & Pavone, M., 2022, 2022 IEEE International Conference on Robotics and Automation, ICRA 2022. Institute of Electrical and Electronics Engineers Inc., p. 2351-2358 8 p. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Trajectory Forecasting 100%
  • Loss Function 100%
  • Forecasting Method 100%
  • Perceptual State 50%
  • Calibrated Prediction 25%
  11 Citations (Scopus)

• ReachBot: A Small Robot for Large Mobile Manipulation Tasks

  Schneider, S., Bylard, A., Chen, T. G., Wang, P., Cutkosky, M., Lapotre, M. & Pavone, M., 2022, 2022 IEEE Aerospace Conference, AERO 2022. IEEE Computer Society, (IEEE Aerospace Conference Proceedings; vol. 2022-March).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Mobile Manipulation 100%
  • Ultimate Tensile Strength 100%
  • Wrench Capability 33%
  • Robotics Concepts 33%
  • Terrain Geometry 33%
  14 Citations (Scopus)

• ReachBot: A Small Robot with Exceptional Reach for Rough Terrain

  Chen, T. G., Miller, B., Winston, C., Schneider, S., Bylard, A., Pavone, M. & Cutkosky, M. R., 2022, 2022 IEEE International Conference on Robotics and Automation, ICRA 2022. Institute of Electrical and Electronics Engineers Inc., p. 4517-4523 7 p. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Grasping Force 100%
  • Passive Gripper 100%
  • Low Inertia 100%
  • Strong Materials 100%
  • Triggering Force 100%
  9 Citations (Scopus)

• ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning

  Chen, Y., Ivanovic, B. & Pavone, M., 2022, Proceedings - 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2022. IEEE Computer Society, p. 17082-17091 10 p. (Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition; vol. 2022-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Managers 100%
  • Pedestrian 100%
  • Autonomous Vehicles 100%
  • Scene Consistency 60%
  • Substantial Amount 50%
  44 Citations (Scopus)

• Semi-Supervised Trajectory-Feedback Controller Synthesis for Signal Temporal Logic Specifications

  Leung, K. & Pavone, M., 2022, 2022 American Control Conference, ACC 2022. Institute of Electrical and Electronics Engineers Inc., p. 178-185 8 p. (Proceedings of the American Control Conference; vol. 2022-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Controller Synthesis 100%
  • Feedback Controller 100%
  • Neural Network Controller 25%
  • Shooting Method 25%
  • Feedback Neural Network 25%
  4 Citations (Scopus)

• Using Spectral Submanifolds for Nonlinear Periodic Control

  Mahlknecht, F., Alora, J. I., Jain, S., Schmerling, E., Bonalli, R., Haller, G. & Pavone, M., 2022, 2022 IEEE 61st Conference on Decision and Control, CDC 2022. Institute of Electrical and Electronics Engineers Inc., p. 6548-6555 8 p. (Proceedings of the IEEE Conference on Decision and Control; vol. 2022-December).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Partial Differential Equation 100%
  • Engineering Problem 100%
  • Semi-discretization 50%
  • Ubiquitous Applications 50%
  • Fidelity Control 50%
  5 Citations (Scopus)

• Whose Track Is It Anyway? Improving Robustness to Tracking Errors with Affinity-based Trajectory Prediction

  Weng, X., Ivanovic, B., Kitani, K. & Pavone, M., 2022, Proceedings - 2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2022. IEEE Computer Society, p. 6563-6572 10 p. (Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition; vol. 2022-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Affinity-based 100%
  • Affinity Matrix 100%
  • Soft Information 33%
  • Track Switch 33%
  • Prediction Scheme 33%
  21 Citations (Scopus)
• 2021

  Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems

  Richards, S. M., Azizan, N., Slotine, J. J. & Pavone, M., 2021, Robotics: Science and Systems XVII. Shell, D. A., Toussaint, M. & Hsieh, M. A. (eds.). MIT Press Journals, (Robotics: Science and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Rotorcraft 100%
  • Nonlinear Feature 100%
  • Nonlinear Features 74%
  • Adaptation Time 49%
  • Interaction Force 49%
  40 Citations (Scopus)

• Co-Design of Communication and Machine Inference for Cloud Robotics

  Nakanoya, M., Chinchali, S., Anemogiannis, A., Datta, A., Katti, S. & Pavone, M., 2021, Robotics: Science and Systems XVII. Shell, D. A., Toussaint, M. & Hsieh, M. A. (eds.). MIT Press Journals, (Robotics: Science and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • AI Inference 100%
  • Communication Design 100%
  • Robotic Perception 50%
  • Neural Accelerator 50%
  • Ultimate Objective 50%
  6 Citations (Scopus)

• Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems

  Bylard, A., Bonalli, R. & Pavone, M., 2021, 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. Institute of Electrical and Electronics Engineers Inc., p. 7464-7470 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2021-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Geometric Motion 100%
  • Pull-back Bundle 100%
  • Composable 100%
  • Task Design 66%
  • Robot Tasks 66%
  8 Citations (Scopus)

• Data Sharing and Compression for Cooperative Networked Control

  Cheng, J., Pavone, M., Katti, S., Chinchali, S. & Tang, A., 2021, Advances in Neural Information Processing Systems 34 - 35th Conference on Neural Information Processing Systems, NeurIPS 2021. Ranzato, M., Beygelzimer, A., Dauphin, Y., Liang, P. S. & Wortman Vaughan, J. (eds.). Neural information processing systems foundation, p. 5947-5958 12 p. (Advances in Neural Information Processing Systems; vol. 8).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Mean Prediction Error 100%
  • Modular Controller 100%
  • Cellular Load 100%
  • Task-agnostic 100%
  • Cognitive Internet of Things (CIoT) 100%
  7 Citations (Scopus)

• Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition

  Solovey, K., Bandyopadhyay, S., Rossi, F., Wolf, M. T. & Pavone, M., 2021, 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. Institute of Electrical and Electronics Engineers Inc., p. 9117-9123 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2021-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Flow Decomposition 100%
  • Heterogeneous Task Scheduling 100%
  • Robot 100%
  • multiple robot 66%
  • Robot State 50%
  1 Citation (Scopus)

• Graph Neural Network Reinforcement Learning for Autonomous Mobility-on-Demand Systems

  Gammelli, D., Yang, K., Harrison, J., Rodrigues, F., Pereira, F. C. & Pavone, M., 2021, 60th IEEE Conference on Decision and Control, CDC 2021. Institute of Electrical and Electronics Engineers Inc., p. 2996-3003 8 p. (Proceedings of the IEEE Conference on Decision and Control; vol. 2021-December).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Reinforcement Learning 100%
  • Graph Neural Network 100%
  • Network Reinforcement 100%
  • Decision-Making 33%
  • Learning Framework 33%
  28 Citations (Scopus)

• Joint Optimization of Autonomous Electric Vehicle Fleet Operations and Charging Station Siting

  Luke, J., Salazar, M., Rajagopal, R. & Pavone, M., Sept 19 2021, 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021. Institute of Electrical and Electronics Engineers Inc., p. 3340-3347 8 p. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; vol. 2021-September).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Electric Vehicle Fleet 100%
  • Charging Station Siting 100%
  • Procurement Cost 100%
  • Autonomous Electric Vehicle 100%
  • Fleet Charging 100%
  20 Citations (Scopus)

• Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions

  Schaefer, S., Leung, K., Ivanovic, B. & Pavone, M., 2021, 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. Institute of Electrical and Electronics Engineers Inc., p. 9673-9679 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2021-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Neural Network 100%
  • Robot 100%
  • Behavior Model 100%
  • Human Robot Interaction 100%
  • Interaction Dynamic 100%
  17 Citations (Scopus)

• Lyapunov-stable neural-network control

  Dai, H., Landry, B., Yang, L., Pavone, M. & Tedrake, R., 2021, Robotics: Science and Systems XVII. Shell, D. A., Toussaint, M. & Hsieh, M. A. (eds.). MIT Press Journals, (Robotics: Science and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Neural Network Controller 100%
  • Goal State 33%
  • Lyapunov Stability 33%
  • Principled Approach 20%
  • Region of Attraction 20%
  34 Citations (Scopus)

• Near-Optimal Multi-Robot Motion Planning with Finite Sampling

  Dayan, D., Solovey, K., Pavone, M. & Halperin, D., 2021, 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. Institute of Electrical and Electronics Engineers Inc., p. 9190-9196 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2021-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Near-optimal 100%
  • Finite Sample 100%
  • Robot Motion Planning 100%
  • multiple robot 100%
  • Motion Planning 100%
  11 Citations (Scopus)

• Particle MPC for Uncertain and Learning-Based Control

  Dyro, R., Harrison, J., Sharma, A. & Pavone, M., 2021, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. Institute of Electrical and Electronics Engineers Inc., p. 7127-7134 8 p. (IEEE International Conference on Intelligent Robots and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Learning Control 100%
  • Model-Based Reinforcement Learning 100%
  • Structured Environment 100%
  • Sensing Uncertainty 50%
  • Sequential Convex Optimization 50%
  6 Citations (Scopus)

• Real-Time Control of Mixed Fleets in Mobility-on-Demand Systems

  Yang, K., Tsao, M. W., Xu, X. & Pavone, M., Sept 19 2021, 2021 IEEE International Intelligent Transportation Systems Conference, ITSC 2021. Institute of Electrical and Electronics Engineers Inc., p. 3570-3577 8 p. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; vol. 2021-September).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Systems Performance 100%
  • Operational Data 100%
  • Automated System 100%
  • Case Study 100%
  • Mixed Fleet 100%
  6 Citations (Scopus)

• Soft Robot Optimal Control via Reduced Order Finite Element Models

  Tonkens, S., Lorenzetti, J. & Pavone, M., 2021, 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. Institute of Electrical and Electronics Engineers Inc., p. 12010-12016 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2021-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Reduced-order Finite Element Model 100%
  • Constrained Trajectory 33%
  • Trajectory Tracking Task 33%
  • Soft Robot Control 33%
  • Nonlinear Dynamic Behavior 33%
  19 Citations (Scopus)

• Soft Tensegrity Systems for Planetary Landing and Exploration

  Garanger, K., Del Valle, I., Rath, M., Krajewski, M., Raheja, U., Pavone, M. & Rimoli, J. J., 2021, Earth and Space 2021: Space Exploration, Utilization, Engineering, and Construction in Extreme Environments - Selected Papers from the 17th Biennial International Conference on Engineering, Science, Construction, and Operations in Challenging Environments. van Susante, P. J. & Roberts, A. D. (eds.). American Society of Civil Engineers (ASCE), p. 841-854 14 p. (Earth and Space 2021: Space Exploration, Utilization, Engineering, and Construction in Extreme Environments - Selected Papers from the 17th Biennial International Conference on Engineering, Science, Construction, and Operations in Challenging Environments).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Planetary Landing 100%
  • Planetary Exploration 100%
  • Tensegrity Systems 100%
  • Tensegrity 100%
  • Tensegrity Structures 50%
  6 Citations (Scopus)

• Vision-based Autonomous Disinfection of High-Touch Surfaces in Indoor Environments

  Roelofs, S., Landry, B., Jalil, M. K., Martin, A., Koppaka, S., Tang, S. K. Y. & Pavone, M., 2021, 2021 21st International Conference on Control, Automation and Systems, ICCAS 2021. IEEE Computer Society, p. 263-270 8 p. (International Conference on Control, Automation and Systems; vol. 2021-October).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Fomite 100%
  • Indoor Environment 100%
  • High-touch Surfaces 100%
  • Indoor Surfaces 20%
  • Spray Disinfectant 20%
  2 Citations (Scopus)

• When Efficiency meets Equity in Congestion Pricing and Revenue Refunding Schemes

  Jalota, D., Solovey, K., Gopalakrishnan, K., Zoepf, S., Balakrishnan, H. & Pavone, M., Oct 5 2021, Proceedings of 2021 ACM Conference on Equity and Access in Algorithms, Mechanisms, and Optimization, EAAMO 2021. Association for Computing Machinery, 3483296. (ACM International Conference Proceeding Series).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Congestion Pricing 100%
  • Refunding Scheme 100%
  • Refund 80%
  • System Efficiency 80%
  • Wealth Inequality 60%
  4 Citations (Scopus)
• 2020

  A Simple and Efficient Tube-based Robust Output Feedback Model Predictive Control Scheme

  Lorenzetti, J. & Pavone, M., May 2020, European Control Conference 2020, ECC 2020. Institute of Electrical and Electronics Engineers Inc., p. 1775-1782 8 p. 9143979. (European Control Conference 2020, ECC 2020).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Output Feedback Model Predictive Control (OFMPC) 100%
  • Robust Positively Invariant Sets 50%
  • Invariant Set 28%
  • Controller Synthesis 28%
  • Bounded Additive Disturbances 25%
  18 Citations (Scopus)

• A Vehicle Coordination and Charge Scheduling Algorithm for Electric Autonomous Mobility-on-Demand Systems

  Boewing, F., Schiffer, M., Salazar, M. & Pavone, M., Jul 2020, 2020 American Control Conference, ACC 2020. Institute of Electrical and Electronics Engineers Inc., p. 248-255 8 p. 9147734. (Proceedings of the American Control Conference; vol. 2020-July).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Coordinated Scheduling 100%
  • Vehicle Coordination 100%
  • Charging Scheduling 100%
  • Polynomial Time 100%
  • Vehicle to Grid 100%
  22 Citations (Scopus)

• Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization

  Lew, T., Bonalli, R. & Pavone, M., May 2020, European Control Conference 2020, ECC 2020. Institute of Electrical and Electronics Engineers Inc., p. 1871-1878 8 p. 9143595. (European Control Conference 2020, ECC 2020).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Robust Trajectory Optimization 100%
  • Signed Distance Function 100%
  • Optimal Trajectory Planning 50%
  • Programming Algorithm 50%
  • Spacecraft Systems 50%
  45 Citations (Scopus)

• Congestion-aware Routing and Rebalancing of Autonomous Mobility-on-Demand Systems in Mixed Traffic

  Wollenstein-Betech, S., Houshmand, A., Salazar, M., Pavone, M., Cassandras, C. G. & Paschalidis, I. C., Sept 20 2020, 2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020. Institute of Electrical and Electronics Engineers Inc., 9294258. (2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Case Study 100%
  • Autonomous Vehicles 100%
  • Systems Performance 100%
  • Traffic Condition 100%
  • Route Planning 100%
  26 Citations (Scopus)

• Counter-example guided synthesis of neural network Lyapunov functions for piecewise linear systems

  Dai, H., Landry, B., Pavone, M. & Tedrake, R., Dec 14 2020, 2020 59th IEEE Conference on Decision and Control, CDC 2020. Institute of Electrical and Electronics Engineers Inc., p. 1274-1281 8 p. 9304201. (Proceedings of the IEEE Conference on Decision and Control; vol. 2020-December).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Guided Synthesis 100%
  • Piecewise Linear Systems 100%
  • piecewise linear 100%
  • Maximal Violation 40%
  • Activation Units 20%
  29 Citations (Scopus)

• Efficient Large-Scale Multi-Drone Delivery Using Transit Networks

  Choudhury, S., Solovey, K., Kochenderfer, M. J. & Pavone, M., May 2020, 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. Institute of Electrical and Electronics Engineers Inc., p. 4543-4550 8 p. 9197313. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Drone Delivery 100%
  • Multi-drone 100%
  • multi agent 100%
  • Polynomial Time 100%
  • Commodity Hardware 100%
  28 Citations (Scopus)

• Error Bounds for Reduced Order Model Predictive Control

  Lorenzetti, J. & Pavone, M., Dec 14 2020, 2020 59th IEEE Conference on Decision and Control, CDC 2020. Institute of Electrical and Electronics Engineers Inc., p. 2521-2528 8 p. 9303959. (Proceedings of the IEEE Conference on Decision and Control; vol. 2020-December).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Predictive Model 100%
  • Constraint Satisfaction Problems 50%
  • State Space 50%
  • Control Framework 50%
  • Approximation (Algorithm) 25%
  3 Citations (Scopus)

• Exploiting Locality and Structure for Distributed Optimization in Multi-Agent Systems

  Brown, R., Rossi, F., Solovey, K., Wolf, M. T. & Pavone, M., May 2020, European Control Conference 2020, ECC 2020. Institute of Electrical and Electronics Engineers Inc., p. 440-447 8 p. 9143722. (European Control Conference 2020, ECC 2020).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Locality-aware 100%
  • Constraint Matrix 50%
  • Similarity Solution 50%
  • Subgradient Algorithm 50%
  • Locality Structure 50%
  2 Citations (Scopus)

• Infusing reachability-based safety into planning and control for multi-agent interactions

  Wang, X., Leung, K. & Pavone, M., Oct 24 2020, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc., p. 6252-6259 8 p. 9341499. (IEEE International Conference on Intelligent Robots and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Reachability 100%
  • Safety Controller 40%
  • Diffusion of Responsibility 20%
  • Robot-Car 20%
  • Highway Scenario 20%
  11 Citations (Scopus)

• Interpretable Policies from Formally-Specified Temporal Properties

  Decastro, J., Leung, K., Aréchiga, N. & Pavone, M., Sept 20 2020, 2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020. Institute of Electrical and Electronics Engineers Inc., 9294442. (2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Agent Simulation 100%
  • Variational Inference 100%
  • Finite Sets 100%
  • Parameterized Policy 100%
  • Learning Flow 100%
  6 Citations (Scopus)

• Joint Design and Control of Electric Vehicle Propulsion Systems

  Verbruggen, F., Salazar, M., Pavone, M. & Hofman, T., May 2020, European Control Conference 2020, ECC 2020. Institute of Electrical and Electronics Engineers Inc., p. 1725-1731 7 p. 9143869. (European Control Conference 2020, ECC 2020).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Joint Design 100%
  • Joint Control 100%
  • Electric Trucks 100%
  • Electric Powertrain 50%
  • Component Size 50%
  26 Citations (Scopus)

• Learning-based Warm-Starting for Fast Sequential Convex Programming and Trajectory Optimization

  Banerjee, S., Lew, T., Bonalli, R., Alfaadhel, A., Alomar, I. A., Shageer, H. M. & Pavone, M., Mar 2020, 2020 IEEE Aerospace Conference, AERO 2020. IEEE Computer Society, 9172293. (IEEE Aerospace Conference Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Warm-starting 100%
  • Trajectory Optimization Algorithm 50%
  • Fast Execution 25%
  • Expert Trajectories 25%
  • Optimal Trajectory 25%
  15 Citations (Scopus)

• Learning Mixed-Integer Convex Optimization Strategies for Robot Planning and Control

  Cauligi, A., Culbertson, P., Stellato, B., Bertsimas, D., Schwager, M. & Pavone, M., Dec 14 2020, 2020 59th IEEE Conference on Decision and Control, CDC 2020. Institute of Electrical and Electronics Engineers Inc., p. 1698-1705 8 p. 9304043. (Proceedings of the IEEE Conference on Decision and Control; vol. 2020-December).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Mixed-integer Convex Programming 100%
  • Ultra-high Speed 33%
  • Solve Time 33%
  • Cart-pole System 33%
  • Space Task 33%
  25 Citations (Scopus)

• Map-Predictive Motion Planning in Unknown Environments

  Elhafsi, A., Ivanovic, B., Janson, L. & Pavone, M., May 2020, 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. Institute of Electrical and Electronics Engineers Inc., p. 8552-8558 7 p. 9197522. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Unknown Environment 100%
  • Motion Planning 100%
  • Heuristic Method 100%
  • Map Prediction 50%
  • Safe Time 25%
  26 Citations (Scopus)

• Markets for Efficient Public Good Allocation with Social Distancing

  Jalota, D., Pavone, M., Qi, Q. & Ye, Y., 2020, Web and Internet Economics - 16th International Conference, WINE 2020, Proceedings. Chen, X., Gravin, N., Hoefer, M. & Mehta, R. (eds.). Springer Science and Business Media Deutschland GmbH, p. 102-116 15 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 12495 LNCS).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Public Goods 100%
  • Social Distancing 100%
  • Fisher Market 100%
  • Capacity Constraints 50%
  • Numerical Experiment 50%
  3 Citations (Scopus)

• On the Co-Design of AV-Enabled Mobility Systems

  Zardini, G., Lanzetti, N., Salazar, M., Censi, A., Frazzoli, E. & Pavone, M., Sept 20 2020, 2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020. Institute of Electrical and Electronics Engineers Inc., 9294499. (2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Autonomous Vehicles 100%
  • Participatory Design 100%
  • Design Problem 28%
  • Case Study 14%
  • Decision Management 14%
  12 Citations (Scopus)

• Projection-based model order reduction for flight dynamics and model predictive control

  McClellan, A., Lorenzetti, J., Pavone, M. & Farhat, C., 2020, AIAA Scitech 2020 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, (AIAA Scitech 2020 Forum; vol. 1 PartF).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Flight Model 100%
  • Flight Dynamics 100%
  • Projection-based Model Reduction 100%
  • Projection-based 50%
  • Finite Time Horizon 25%
  5 Citations (Scopus)

• Revisiting the Asymptotic Optimality of RRT

  Solovey, K., Janson, L., Schmerling, E., Frazzoli, E. & Pavone, M., May 2020, 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. Institute of Electrical and Electronics Engineers Inc., p. 2189-2195 7 p. 9196553. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Asymptotics 100%
  • Optimality 100%
  • Motion Planning 50%
  • Karaman 50%
  • Asymptotically Optimal Motion Planning 50%
  31 Citations (Scopus)

• Risk-sensitive sequential action control with multi-modal human trajectory forecasting for safe crowd-robot interaction

  Nishimura, H., Ivanovic, B., Gaidon, A., Pavone, M. & Schwager, M., Oct 24 2020, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc., p. 11205-11212 8 p. 9341469. (IEEE International Conference on Intelligent Robots and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Sequential Action Control 100%
  • Robot Interaction 100%
  • Human Trajectory Forecasting 100%
  • Action Control 100%
  • Online Framework 66%
  31 Citations (Scopus)

• Sample Complexity of Probabilistic Roadmaps via ϵ-nets

  Tsao, M., Solovey, K. & Pavone, M., May 2020, 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. Institute of Electrical and Electronics Engineers Inc., p. 2196-2202 7 p. 9196917. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Probabilistic Roadmap 100%
  • Sampling Distribution 100%
  • Asymptotics 66%
  • Asymptotic Regimes 66%
  • Lower and upper bounds 33%
  11 Citations (Scopus)

• Shapeshifter: A Multi-Agent, Multi-Modal Robotic Platform for Exploration of Titan

  Tagliabue, A., Schneider, S., Pavone, M. & Agha-Mohammadi, A. A., Mar 2020, 2020 IEEE Aerospace Conference, AERO 2020. IEEE Computer Society, 9172739. (IEEE Aerospace Conference Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Simulation Environment 100%
  • Battery (Electrochemical Energy Engineering) 100%
  • Electric Power Utilization 100%
  • Control Algorithm 100%
  • Energy Efficiency 100%
  12 Citations (Scopus)

• Trajectron++: Dynamically-Feasible Trajectory Forecasting with Heterogeneous Data

  Salzmann, T., Ivanovic, B., Chakravarty, P. & Pavone, M., 2020, Computer Vision – ECCV 2020 - 16th European Conference, 2020, Proceedings. Vedaldi, A., Bischof, H., Brox, T. & Frahm, J.-M. (eds.). Springer Science and Business Media Deutschland GmbH, p. 683-700 18 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 12363 LNCS).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Environmental Information 100%
  • Multi-agent Behavior 66%
  • General number 66%
  • Real-world Trajectory 66%
  • Robotic Planning 66%
  488 Citations (Scopus)

• UAV aircraft carrier landing using CFD-based model predictive control

  Lorenzetti, J., McClellan, A., Farhat, C. & Pavone, M., 2020, AIAA Scitech 2020 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, (AIAA Scitech 2020 Forum; vol. 1 PartF).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Aircraft Carrier 100%
  • Aircraft Carrier Landing 100%
  7 Citations (Scopus)
• 2019

  A congestion-aware routing scheme for autonomous mobility-on-demand systems

  Salazar, M., Tsao, M., Aguiar, I., Schiffer, M. & Pavone, M., Jun 2019, 2019 18th European Control Conference, ECC 2019. Institute of Electrical and Electronics Engineers Inc., p. 3040-3046 7 p. 8795897. (2019 18th European Control Conference, ECC 2019).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Routing Scheme 100%
  • Autonomous Mobility-on-demand (AMoD) 100%
  • On-demand Systems 100%
  • Congestion-aware Routing 100%
  • routing scheme 100%
  41 Citations (Scopus)

• A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization

  Landry, B., Manchester, Z. & Pavone, M., 2019, Robotics: Science and Systems XV. Bicchi, A., Kress-Gazit, H. & Hutchinson, S. (eds.). MIT Press Journals, (Robotics: Science and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Bilevel Optimisation 100%
  • Augmented Lagrangian Method 100%
  • Scalability 100%
  • Optimization Problem 50%
  • Parameter Estimation 50%
  6 Citations (Scopus)

• A Model Predictive Control Scheme for Intermodal Autonomous Mobility-on-Demand

  Zgraggen, J., Tsao, M., Salazar, M., Schiffer, M. & Pavone, M., Oct 2019, 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019. Institute of Electrical and Electronics Engineers Inc., p. 1953-1960 8 p. 8917521. (2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Predictive Model 100%
  • Public Transport 100%
  • Case Study 33%
  • Quality of Service 33%
  • Control Algorithm 33%
  10 Citations (Scopus)

• A risk-sensitive finite-time reachability approach for safety of stochastic dynamic systems

  Chapman, M. P., Lacotte, J., Tamar, A., Lee, D., Smith, K. M., Cheng, V., Fisac, J. F., Jha, S., Pavone, M. & Tomlin, C. J., Jul 2019, 2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc., p. 2958-2963 6 p. 8815169. (Proceedings of the American Control Conference; vol. 2019-July).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Stochastic Dynamic System 100%
  • Conditional Value 40%
  • Constraint Violation 25%
  • Adversarial Disturbances 20%
  • Stochastic Reachability 20%
  37 Citations (Scopus)

• Backpropagation for parametric STL

  Leung, K., Aréchiga, N. & Pavone, M., Jun 2019, 2019 IEEE Intelligent Vehicles Symposium, IV 2019. Institute of Electrical and Electronics Engineers Inc., p. 185-192 8 p. 8814167. (IEEE Intelligent Vehicles Symposium, Proceedings; vol. 2019-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Learning Signals 100%
  • Behavior Traces 49%
  • Parameter Fitting 49%
  • Logic Problem 49%
  • Fitting Parameter 49%
  18 Citations (Scopus)

• BaRC: Backward reachability curriculum for robotic reinforcement learning

  Ivanovic, B., Harrison, J., Sharma, A., Chen, M. & Pavone, M., May 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., p. 15-21 7 p. 8794206. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2019-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Backward Reachability 100%
  • Model-Free Reinforcement Learning 100%
  • Accelerated Training 50%
  • Simulated Environment 33%
  • Natural Reward 33%
  27 Citations (Scopus)

• Beyond the force: Using quadcopters to appropriate objects and the environment for haptics in virtual reality

  Abtahi, P., Landry, B., Yang, J. J., Pavone, M., Follmer, S. & Landay, J. A., May 2 2019, CHI 2019 - Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems. Association for Computing Machinery, (Conference on Human Factors in Computing Systems - Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • haptic interaction 100%
  • Haptic Interaction 49%
  • Visuo-haptic Illusion 25%
  • Passive Haptics 25%
  • Virtual Shopping 25%
  98 Citations (Scopus)

• GuSTO: Guaranteed sequential trajectory optimization via sequential convex programming

  Bonalli, R., Cauligi, A., Bylard, A. & Pavone, M., May 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., p. 6741-6747 7 p. 8794205. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2019-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Constraint Set 100%
  • Stationary Point 100%
  • Quality Time 100%
  • Final Time 100%
  • Set Constraints 44%
  97 Citations (Scopus)

• Model predictive control of ride-sharing autonomous mobility-on-demand systems

  Tsao, M., Milojevic, D., Ruch, C., Salazar, M., Frazzoli, E. & Pavone, M., May 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., p. 6665-6671 7 p. 8794194. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2019-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Predictive Model 100%
  • Case Study 25%
  • Control Approach 25%
  • Control Algorithm 25%
  • Network Flow Model 25%
  55 Citations (Scopus)

• Network Offloading Policies for Cloud Robotics: a Learning-based Approach

  Chinchali, S., Sharma, A., Harrison, J., Elhafsi, A., Kang, D., Pergament, E., Cidon, E., Katti, S. & Pavone, M., 2019, Robotics: Science and Systems XV. Bicchi, A., Kress-Gazit, H. & Hutchinson, S. (eds.). MIT Press Journals, (Robotics: Science and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Offloading Policy 100%
  • Network Offload 100%
  • Cloud Robotics 100%
  • Offloading Strategy 66%
  • Constrained Robot 33%
  25 Citations (Scopus)

• Optimal Routing and Energy Management Strategies for Plug-in Hybrid Electric Vehicles

  Salazar, M., Houshmand, A., Cassandras, C. G. & Pavone, M., Oct 2019, 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019. Institute of Electrical and Electronics Engineers Inc., p. 733-739 7 p. 8917131. (2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Network Flow Optimization 50%
  • Road Link 33%
  • Eco-routing 33%
  16 Citations (Scopus)

• Perception-Constrained Robot Manipulator Planning for Satellite Servicing

  Zahroof, T., Bylard, A., Shageer, H. & Pavone, M., Mar 2019, 2019 IEEE Aerospace Conference, AERO 2019. IEEE Computer Society, 8741569. (IEEE Aerospace Conference Proceedings; vol. 2019-March).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Constrained Robot Manipulators 100%
  • Satellite Servicing 100%
  • Manipulator Planning 100%
  • Refinement Algorithm 100%
  • Service Spacecraft 50%
  3 Citations (Scopus)

• Reduced order model predictive control for setpoint tracking

  Lorenzetti, J., Landry, B., Singh, S. & Pavone, M., Jun 2019, 2019 18th European Control Conference, ECC 2019. Institute of Electrical and Electronics Engineers Inc., p. 299-306 8 p. 8796005. (2019 18th European Control Conference, ECC 2019).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Predictive Control Model 100%
  • Reduced Order Model 100%
  • Setpoints 100%
  • Predictive Model 100%
  • Set-point Tracking 100%
  13 Citations (Scopus)

• Robust and adaptive planning under model uncertainty

  Sharma, A., Harrison, J., Tsao, M. & Pavone, M., 2019, Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019. Benton, J., Lipovetzky, N., Onaindia, E., Smith, D. E. & Srivastava, S. (eds.). AAAI press, p. 410-418 9 p. (Proceedings International Conference on Automated Planning and Scheduling, ICAPS).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Model Uncertainty 100%
  • Planning Algorithm 100%
  • Robust Planning 100%
  • Monte-Carlo Planning 100%
  • Adaptive Monte Carlo 100%
  10 Citations (Scopus)

• Scalable and Congestion-aware Routing for Autonomous Mobility-on-Demand via Frank-Wolfe Optimization

  Solovey, K., Salazar, M. & Pavone, M., 2019, Robotics: Science and Systems XV. Bicchi, A., Kress-Gazit, H. & Hutchinson, S. (eds.). MIT Press Journals, (Robotics: Science and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Frank-Wolfe Optimization 100%
  • Volume-delay Function 50%
  • Frank-Wolfe Algorithm 50%
  • Routing Process 50%
  • Computationally Efficient Approach 16%
  15 Citations (Scopus)

• The trajectron: Probabilistic multi-agent trajectory modeling with dynamic spatiotemporal graphs

  Ivanovic, B. & Pavone, M., Oct 2019, Proceedings - 2019 International Conference on Computer Vision, ICCV 2019. Institute of Electrical and Electronics Engineers Inc., p. 2375-2384 10 p. 9009454. (Proceedings of the IEEE International Conference on Computer Vision; vol. 2019-October).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Spatio-temporal Graph 100%
  • Spatiotemporal Graph 100%
  • Prediction Metrics 50%
  • Deep Generative Modeling 50%
  • Recurrent Sequences 50%
  338 Citations (Scopus)

• Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach

  Bonalli, R., Bylard, A., Cauligi, A., Lew, T. & Pavone, M., 2019, Robotics: Science and Systems XV. Bicchi, A., Kress-Gazit, H. & Hutchinson, S. (eds.). MIT Press Journals, (Robotics: Science and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Optimization on Manifolds 100%
  • Type Constraints 16%
  • Euclidean Structure 16%
  • Equivalent Problems 16%
  • Ambient Space 16%
  23 Citations (Scopus)
• 2018

  Cellular network traffic scheduling with deep reinforcement learning

  Chinchali, S., Hu, P., Chu, T., Sharma, M., Bansal, M., Misra, R., Pavone, M. & Katti, S., 2018, 32nd AAAI Conference on Artificial Intelligence, AAAI 2018. AAAI press, p. 766-774 9 p. (32nd AAAI Conference on Artificial Intelligence, AAAI 2018).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Cellular Network Traffic 100%
  • Network Scheduling 100%
  • Mobile Networks 100%
  • Mobile Network 100%
  • Traffic Class 50%
  163 Citations (Scopus)

• Cooperative Object Transport in 3D with Multiple Quadrotors Using No Peer Communication

  Wang, Z., Singh, S., Pavone, M. & Schwager, M., Sept 10 2018, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., p. 1064-1071 8 p. 8460742. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Multiple Quadrotors 100%
  • Peer Communication 100%
  • Cooperative Object Transportation 100%
  • Cooperative 100%
  • Heavy Objects 66%
  27 Citations (Scopus)

• Data-driven model predictive control of autonomous mobility-on-demand systems

  Iglesias, R., Rossi, F., Wang, K., Hallac, D., Leskovec, J. & Pavone, M., Sept 10 2018, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., p. 6019-6025 7 p. 8460966. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Data-driven Model Predictive Control 100%
  • Driven Framework 33%
  • End Performance 33%
  • Short-term Demand 25%
  • Customer Data 25%
  95 Citations (Scopus)

• Generative Modeling of Multimodal Multi-Human Behavior

  Ivanovic, B., Schmerling, E., Leung, K. & Pavone, M., Dec 27 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., p. 3088-3095 8 p. 8594393. (IEEE International Conference on Intelligent Robots and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Multi-human 100%
  • Graphical Model 100%
  • Probabilistic Graphical Models 25%
  • Bin Packing 25%
  • Vehicle Robot 25%
  57 Citations (Scopus)

• Gravimetric localization on the surface of small bodies

  Hockman, B., Reid, R. G., Nesnas, I. A. D. & Pavone, M., Jun 25 2018, 2018 IEEE Aerospace Conference, AERO 2018. IEEE Computer Society, p. 1-12 12 p. (IEEE Aerospace Conference Proceedings; vol. 2018-March).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Mothership 100%
  • Jet Propulsion 100%
  • Rotating Field 100%
  • Terrestrial Application 100%
  • Sensor Uncertainty 100%
  1 Citation (Scopus)

• Learning Sampling Distributions for Robot Motion Planning

  Ichter, B., Harrison, J. & Pavone, M., Sept 10 2018, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., p. 7087-7094 8 p. 8460730. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Defining Feature 100%
  • Sampling Bias 33%
  • Sampling-based Planners 25%
  • Bias Sampling 25%
  • Implicit Representation 25%
  261 Citations (Scopus)

• Minimal altitude loss pullout maneuvers

  Bunge, R. A., Pavone, M. & Kroo, I. M., Jan 1 2018, AIAA Guidance, Navigation, and Control. American Institute of Aeronautics and Astronautics Inc, AIAA, (AIAA Guidance, Navigation, and Control Conference, 2018).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Optimal Policy 100%
  • Maximum Lift Coefficient 100%
  • Point Mass Model 50%
  • Roll Rate 50%
  • Spin Recovery 14%
  2 Citations (Scopus)

• Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction

  Schmerling, E., Leung, K., Vollprecht, W. & Pavone, M., Sept 10 2018, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., p. 3399-3406 8 p. 8460766. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Robot Action 100%
  • Model-based Planning 100%
  • Parallel Sampling 50%
  • Interaction History 50%
  • Future Robots 50%
  122 Citations (Scopus)

• On the Interaction between Autonomous Mobility-on-Demand and Public Transportation Systems

  Salazar, M., Rossi, F., Schiffer, M., Onder, C. H. & Pavone, M., Dec 7 2018, 2018 IEEE Intelligent Transportation Systems Conference, ITSC 2018. Institute of Electrical and Electronics Engineers Inc., p. 2262-2269 8 p. 8569381. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; vol. 2018-November).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Autonomous Mobility-on-demand (AMoD) 100%
  • Public Transportation System 100%
  • On-demand Transportation 100%
  • Case Study 100%
  • Operating Systems 100%
  88 Citations (Scopus)

• On the interaction between Autonomous Mobility-on-Demand systems and the power network: models and coordination algorithms

  Rossi, F., Iglesias, R., Alizadeh, M. & Pavone, M., 2018, Robotics: Science and Systems XIV. Kress-Gazit, H., Srinivasa, S. S., Howard, T. & Atanasov, N. (eds.). MIT Press Journals, (Robotics: Science and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Network Model 100%
  • Joints (Structural Components) 100%
  • Power Distribution 100%
  • Power Generation 100%
  • Closed Loop 100%
  11 Citations (Scopus)

• Reach-Avoid Games Via Mixed-Integer Second-Order Cone Programming

  Lorenzetti, J., Chen, M., Landry, B. & Pavone, M., Jul 2 2018, 2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc., p. 4409-4416 8 p. 8619382. (Proceedings of the IEEE Conference on Decision and Control; vol. 2018-December).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Reach-avoid Games 100%
  • Mixed-integer Second-order Cone Programming (MISOCP) 100%
  • Receding Horizon Strategy 50%
  • Safety Critical Systems 50%
  • Computational Solution 50%
  14 Citations (Scopus)

• Reach-Avoid Problems via Sum-or-Squares Optimization and Dynamic Programming

  Landry, B., Chen, M., Hemley, S. & Pavone, M., Dec 27 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., p. 4325-4332 8 p. 8594078. (IEEE International Conference on Intelligent Robots and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • System Dynamics 100%
  • Dynamic Programming 100%
  • Scalability 100%
  • Computational Complexity 50%
  • Numerical Example 50%
  17 Citations (Scopus)

• Robust Visual Localization for Hopping Rovers on Small Bodies

  Chiodini, S., Reid, R. G., Hockman, B., Nesnas, I. A. D., Debei, S. & Pavone, M., Sept 10 2018, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., p. 897-903 7 p. 8462865. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Hopping Rover 100%
  • Small Bodies 100%
  • Camera View 100%
  • Varying Illumination 66%
  • Prior Map 60%
  9 Citations (Scopus)

• Safe Motion Planning in Unknown Environments: Optimality Benchmarks and Tractable Policies

  Janson, L., Hu, T. & Pavone, M., 2018, Robotics: Science and Systems XIV. Kress-Gazit, H., Srinivasa, S. S., Howard, T. & Atanasov, N. (eds.). MIT Press Journals, (Robotics: Science and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Safe Planning 100%
  • Exploration-exploitation 100%
  • Pseudo-optimal 100%
  • Obstacle Spacing 100%
  • Competitive Analysis 100%
  26 Citations (Scopus)

• Stochastic Model Predictive Control for Autonomous Mobility on Demand

  Tsao, M., Iglesias, R. & Pavone, M., Dec 7 2018, 2018 IEEE Intelligent Transportation Systems Conference, ITSC 2018. Institute of Electrical and Electronics Engineers Inc., p. 3941-3948 8 p. 8569459. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; vol. 2018-November).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Stochastics 100%
  • Stochastic Optimization Problem 50%
  • First Submodules 50%
  • Ridesharing 50%
  • Totally Unimodular 50%
  45 Citations (Scopus)
• 2017

  Evaluating trajectory collision probability through adaptive importance sampling for safe motion planning

  Schmerling, E. & Pavone, M., 2017, Robotics: Science and Systems XIII, RSS 2017. Amato, N., Srinivasa, S., Ayanian, N. & Kuindersma, S. (eds.). MIT Press Journals, (Robotics: Science and Systems; vol. 13).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Safe Motion Planning 100%
  • Adaptive Importance Sampling 100%
  • Collision Probability 100%
  • Feedback Law 33%
  • Collision Avoidance Constraints 33%
  20 Citations (Scopus)

• Force and moment constraints of a curved surface gripper and wrist for assistive free flyers

  Estrada, M. A., Jiang, H., Noll, B., Hawkes, E. W., Pavone, M. & Cutkosky, M. R., Jul 21 2017, ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 2824-2830 7 p. 7989329. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Force Constraints 100%
  • Wide Range 100%
  • Microgravity 100%
  • Free-floating Space Robot 40%
  • Limitations 25%
  12 Citations (Scopus)

• Group marching tree: Sampling-based approximately optimal motion planning on GPUs

  Ichter, B., Schmerling, E. & Pavone, M., May 11 2017, Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017. Institute of Electrical and Electronics Engineers Inc., p. 219-226 8 p. 7926542. (Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Small Loss 100%
  • Thread Divergence 100%
  • Multiplicative Factors 100%
  • Level Parallelism 100%
  • Multiplicative Factor 100%
  14 Citations (Scopus)

• Low cost, high endurance, altitude-controlled latex balloon for near-space research (ValBal)

  Sushko, A., Tedjarati, A., Creus-Costa, J., Maldonado, S., Marshland, K. & Pavone, M., Jun 7 2017, 2017 IEEE Aerospace Conference. IEEE Computer Society, 7943912. (IEEE Aerospace Conference Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Near Space 100%
  • Space Research 100%
  • Latex Balloon 100%
  • High Endurance 100%
  • Payload Capacity 100%
  15 Citations (Scopus)

• Real-time stochastic kinodynamic motion planning via multiobjective search on GPUs

  Ichter, B., Schmerling, E., Agha-Mohammadi, A. A. & Pavone, M., Jul 21 2017, ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 5019-5026 8 p. 7989585. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Kinodynamic Planning 100%
  • Multi-objective Search 100%
  • Multiobjective Search 100%
  • Multi-objective Planning 80%
  • Uncertainty-aware 80%
  14 Citations (Scopus)

• Risk-sensitive inverse reinforcement learning via coherent risk models

  Majumdar, A., Singh, S., Mandlekar, A. & Pavone, M., 2017, Robotics: Science and Systems XIII, RSS 2017. Amato, N., Srinivasa, S., Ayanian, N. & Kuindersma, S. (eds.). MIT Press Journals, (Robotics: Science and Systems; vol. 13).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Risk-sensitive 100%
  • Coherent Risk 100%
  • Decision Making 100%
  • Driving Style 20%
  • Risk Sensitivity 20%
  37 Citations (Scopus)

• Robust capture and deorbit of rocket body debris using controllable dry adhesion

  Bylard, A., MacPherson, R., Hockman, B., Cutkosky, M. R. & Pavone, M., Jun 7 2017, 2017 IEEE Aerospace Conference. IEEE Computer Society, 7943844. (IEEE Aerospace Conference Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Dry Adhesion 100%
  • Dry Adhesive 100%
  • Access to Space 20%
  • Deorbiting 20%
  • Orbital Debris 20%
  24 Citations (Scopus)

• Robust online motion planning via contraction theory and convex optimization

  Singh, S., Majumdar, A., Slotine, J. J. & Pavone, M., Jul 21 2017, ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 5883-5890 8 p. 7989693. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Predictive Model 100%
  • Convex Optimization 100%
  • Motion Planning 100%
  • Online Motion Planning 100%
  • Tube-based Model Predictive Control 66%
  150 Citations (Scopus)

• The Matroid Team Surviving Orienteers problem: Constrained routing of heterogeneous teams with risky traversal

  Jorgensen, S., Chen, R. H., Milam, M. B. & Pavone, M., Dec 13 2017, IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 5622-5629 8 p. 8206450. (IEEE International Conference on Intelligent Robots and Systems; vol. 2017-September).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Robot 100%
  • Feasible Set 100%
  • Dangerous Condition 20%
  • Pirates 20%
  • Planning Context 20%
  17 Citations (Scopus)

• The risk-sensitive coverage problem: Multi-robot routing under uncertainty with service level and survival constraints

  Jorgensen, S., Chen, R. H., Milam, M. B. & Pavone, M., Jun 28 2017, 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc., p. 925-932 8 p. (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; vol. 2018-January).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Routing under Uncertainty 100%
  • Coverage Problem 100%
  • Robot Routing 100%
  • Survival Threshold 33%
  • Rescue Scenario 33%
  5 Citations (Scopus)

• The team surviving orienteers problem: Routing robots in uncertain environments with survival constraints

  Jorgensen, S., Chen, R. H., Milam, M. B. & Pavone, M., May 11 2017, Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017. Institute of Electrical and Electronics Engineers Inc., p. 227-234 8 p. 7926543. (Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Robot 100%
  • Routing Problem 100%
  • Disaster Area 50%
  • Linear Time Complexity 50%
  • War Zone 50%
  10 Citations (Scopus)
• 2016

  A real-time framework for kinodynamic planning with application to quadrotor obstacle avoidance

  Allen, R. & Pavone, M., 2016, AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA, (2016 AIAA Guidance, Navigation, and Control Conference).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Metrics 100%
  • Dynamic Models 100%
  • Optimal Control 100%
  • Collision Avoidance 100%
  • Execution Time 100%
  53 Citations (Scopus)

• Autonomous calibration of MEMS disk resonating gyroscope for improved sensor performance

  Flader, I. B., Ahn, C. H., Gerrard, D. D., Ng, E. J., Yang, Y., Hong, V. A., Pavone, M. & Kenny, T. W., Jul 28 2016, 2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., p. 5803-5810 8 p. 7526579. (Proceedings of the American Control Conference; vol. 2016-July).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Principle Axis 50%
  • Derivative-free Optimization 33%
  • Nulling 33%
  • Modal Frequency 33%
  • Mode Matching 33%
  6 Citations (Scopus)

• Design, control, and experimentation of internally-actuated rovers for the exploration of low-gravity planetary bodies

  Hockman, B., Frick, A., Nesnas, I. A. D. & Pavone, M., 2016, Field and Service Robotics - Results of the 10th International Conference. Wettergreen, D. S. & Barfoot, T. D. (eds.). Springer Verlag, p. 283-298 16 p. (Springer Tracts in Advanced Robotics; vol. 113).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Design Experimentation 100%
  • Design Control 100%
  • Planetary Body 100%
  • Spin Rate 50%
  • Relative Orientation 50%
  3 Citations (Scopus)

• Fast marching trees: A fast marching sampling-based method for optimal motion planning in many dimensions

  Janson, L. & Pavone, M., 2016, Robotics Research - 16th International Symposium ISRR. Corke, P. & Inaba, M. (eds.). Springer Verlag, p. 667-684 18 p. (Springer Tracts in Advanced Robotics; vol. 114).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Fast Marching 100%
  • Query Algorithm 33%
  • Almost Sure Convergence 25%
  • Eikonal Equation 16%
  • Dynamic Programming Recursion 16%
  9 Citations (Scopus)

• Free-flyer acquisition of spinning objects with gecko-inspired adhesives

  Estrada, M. A., Hockman, B., Bylard, A., Hawkes, E. W., Cutkosky, M. R. & Pavone, M., Jun 8 2016, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., p. 4907-4913 7 p. 7487696. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2016-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Docking 100%
  • Floating Platform 100%
  • Spacecraft Docking 100%
  • Angular Velocity 100%
  • Autonomous Object 50%
  38 Citations (Scopus)

• Model predictive control of autonomous mobility-on-demand systems

  Zhang, R., Rossi, F. & Pavone, M., Jun 8 2016, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., p. 1382-1389 8 p. 7487272. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2016-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Predictive Model 100%
  • Control Algorithm 50%
  • Vehicle Scheduling 33%
  • Control Approach 25%
  • Control Strategy 25%
  136 Citations (Scopus)

• Optimized and trusted collision avoidance for unmanned aerial vehicles using approximate dynamic programming

  Sunberg, Z. N., Kochenderfer, M. J. & Pavone, M., Jun 8 2016, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., p. 1455-1461 7 p. 7487280. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2016-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Approximate Dynamic Programming 100%
  • Adaptation Policy 50%
  • Collision Avoidance System 50%
  • Dynamic Programming Method 50%
  17 Citations (Scopus)

• Real-time, propellant-optimized spacecraft motion planning under Clohessy-Wiltshire-Hill dynamics

  Starek, J. A., Schmerling, E., Maher, G. D., Barbee, B. W. & Pavone, M., Jun 27 2016, 2016 IEEE Aerospace Conference, AERO 2016. IEEE Computer Society, 7500704. (IEEE Aerospace Conference Proceedings; vol. 2016-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Spacecraft Motion 100%
  • Debris Removal 100%
  • Circular Orbit 100%
  • Sample Point 100%
  • Spacecraft Trajectory 100%
  22 Citations (Scopus)

• Risk aversion in finite Markov Decision Processes using total cost criteria and average value at risk

  Carpin, S., Chow, Y. L. & Pavone, M., Jun 8 2016, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., p. 335-342 8 p. 7487152. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2016-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Risk Aversion 100%
  • Total Cost 100%
  • Value at Risk 100%
  • Markov Decision Process 100%
  • Finite Markov Decision Processes 100%
  21 Citations (Scopus)

• Routing autonomous vehicles in congested transportation networks: Structural properties and coordination algorithms

  Zhang, R., Rossi, F. & Pavone, M., 2016, Robotics: Science and Systems XII, RSS 2016. Hsu, D., Amato, N., Berman, S. & Jacobs, S. (eds.). MIT Press Journals, (Robotics: Science and Systems; vol. 12).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Autonomous Vehicles 100%
  • Transportation Network 100%
  • Coordination Algorithms 100%
  • Network Structural Properties 100%
  • Structural Property 100%
  18 Citations (Scopus)

• Simultaneous model identification and task satisfaction in the presence of temporal logic constraints

  Chinchali, S. P., Livingston, S. C., Pavone, M. & Burdick, J. W., Jun 8 2016, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., p. 3682-3689 8 p. 7487553. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2016-June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Task Satisfaction 100%
  • Model Identification 100%
  • Temporal Logic Constraints 100%
  • Logic Constraint 100%
  • Linear Temporal Logic 66%
  5 Citations (Scopus)
• 2015

  A convex optimization approach to smooth trajectories for motion planning with car-like robots

  Zhu, Z., Schmerling, E. & Pavone, M., Feb 8 2015, 54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc., p. 835-842 8 p. 7402333. (Proceedings of the IEEE Conference on Decision and Control; vol. 54rd IEEE Conference on Decision and Control,CDC 2015).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Numerical Experiment 100%
  • Heuristic Algorithm 100%
  • Motion Planning 100%
  • Convex Programming 100%
  • Smoothing Algorithm 100%
  113 Citations (Scopus)

• An asymptotically-optimal sampling-based algorithm for Bi-directional motion planning

  Starek, J. A., Gomez, J. V., Schmerling, E., Janson, L., Moreno, L. & Pavone, M., Dec 11 2015, IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 2072-2078 7 p. 7353652. (IEEE International Conference on Intelligent Robots and Systems; vol. 2015-December).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Bidirectional Search 100%
  • Bidirectional Motion 100%
  • Initial Configuration 50%
  • Key Property 50%
  • Bidirectional Sampling 33%
  43 Citations (Scopus)

• A queueing network approach to the analysis and control of mobility-on-demand systems

  Zhang, R. & Pavone, M., Jul 28 2015, ACC 2015 - 2015 American Control Conference. Institute of Electrical and Electronics Engineers Inc., p. 4702-4709 8 p. 7172070. (Proceedings of the American Control Conference; vol. 2015-July).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Queueing Network 100%
  • Jackson Network 50%
  • Sizing System 50%
  • Car-sharing Service 20%
  • One-way Carsharing 20%
  28 Citations (Scopus)

• A sampling-based approach to spacecraft autonomous maneuvering with safety specifications

  Starek, J. A., Barbee, B. & Pavone, M., 2015, Guidance, Navigation and Control 2015 - Advances in the Astronautical Sciences: Proceedings of the 38th Annual AAS Rocky Mountain Section Guidance and Control Conference. Gravseth, I. J. (ed.). Univelt Inc., p. 725-737 13 p. (Advances in the Astronautical Sciences; vol. 154).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Chaser 100%
  • Autonomous Maneuvers 100%
  • Safety Specification 100%
  • Spacecraft Trajectory 100%
  • Spacecraft Control 50%
  10 Citations (Scopus)

• Decentralized algorithms for 3D symmetric formations in robotic networks - A contraction theory approach

  Singh, S., Schmerling, E. & Pavone, M., Jun 29 2015, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc., p. 1274-1281 8 p. 7139355. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2015-June, no. June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Regular Polygon 100%
  • Base Case 100%
  • Partial Contraction 50%
  • Johnson Solids 50%
  • Mathematical Property 50%

• Models, algorithms, and evaluation for autonomous mobility-on-demand systems

  Zhang, R., Spieser, K., Frazzoli, E. & Pavone, M., Jul 28 2015, ACC 2015 - 2015 American Control Conference. Institute of Electrical and Electronics Engineers Inc., p. 2573-2587 15 p. 7171122. (Proceedings of the American Control Conference; vol. 2015-July).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Evaluation Model 100%
  • Modeling Algorithm 100%
  • Autonomous Mobility-on-demand (AMoD) 100%
  • On-demand Systems 100%
  • Case Study 100%
  61 Citations (Scopus)

• Optimal sampling-based motion planning under differential constraints: The driftless case

  Schmerling, E., Janson, L. & Pavone, M., Jun 29 2015, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc., p. 2368-2375 8 p. 7139514. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2015-June, no. June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Differential Constraints 100%
  • Drift-free 100%
  • Optimal Sampling 100%
  • Motion Planning 100%
  • Tree Algorithm 66%
  65 Citations (Scopus)

• Optimal sampling-based motion planning under differential constraints: The drift case with linear affine dynamics

  Schmerling, E., Janson, L. & Pavone, M., Feb 8 2015, 54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc., p. 2574-2581 8 p. 7402604. (Proceedings of the IEEE Conference on Decision and Control; vol. 54rd IEEE Conference on Decision and Control,CDC 2015).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Drift Control 100%
  • Control System 100%
  • Correct Algorithm 50%
  • Affine Dynamical Systems 50%
  • Energy Cost Function 50%
  34 Citations (Scopus)

• Toward a real-time framework for solving the kinodynamic motion planning problem

  Allen, R. & Pavone, M., Jun 29 2015, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc., p. 928-934 7 p. 7139288. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2015-June, no. June).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Real-time Framework 100%
  • Motion Planning 100%
  • Machine Learning Optimization 50%
  • Online Solution 50%
  • Computation Time Reduction 50%
  8 Citations (Scopus)
• 2014

  A dynamical characterization of internally-Actuated microgravity mobility systems

  Koenig, A. W., Pavone, M., Castillo-Rogez, J. C. & Nesnas, I. A. D., Sept 22 2014, Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 6618-6624 7 p. 6907836. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Dynamical Characterization 100%
  • Microgravity 100%
  • Rovers 66%
  • Small Solar System Bodies 33%
  • Body Rotation 33%
  9 Citations (Scopus)

• A framework for time-consistent, risk-averse model predictive control: Theory and algorithms

  Chow, Y. L. & Pavone, M., 2014, 2014 American Control Conference, ACC 2014. Institute of Electrical and Electronics Engineers Inc., p. 4204-4211 8 p. 6859437. (Proceedings of the American Control Conference).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Risk-averse Model 100%
  • Control Theory 100%
  • Dual Representation 25%
  • Online Risks 25%
  • Predictive Control for Linear Systems 25%
  31 Citations (Scopus)

• A machine learning approach for real-time reachability analysis

  Allen, R. E., Clark, A. A., Starek, J. A. & Pavone, M., Oct 31 2014, IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 2202-2208 7 p. 6942859. (IEEE International Conference on Intelligent Robots and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Reachability 100%
  • Two-point Boundary Value Problem 100%
  • Boundary Value Problems 100%
  • Indirect Approach 50%
  • Critical Robotics 50%
  44 Citations (Scopus)

• Distributed consensus with mixed time/communication bandwidth performance metrics

  Rossi, F. & Pavone, M., Jan 30 2014, 2014 52nd Annual Allerton Conference on Communication, Control, and Computing, Allerton 2014. Institute of Electrical and Electronics Engineers Inc., p. 286-293 8 p. 7028468. (2014 52nd Annual Allerton Conference on Communication, Control, and Computing, Allerton 2014).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Communication Complexity 100%
  • Consensus Function 25%
  • Time Robustness 25%
  • Model-based Communication 25%
  • Data Throughput 25%
  6 Citations (Scopus)

• On the fundamental limitations of performance for distributed decision-making in robotic networks

  Rossi, F. & Pavone, M., 2014, 53rd IEEE Conference on Decision and Control,CDC 2014. February ed. Institute of Electrical and Electronics Engineers Inc., p. 2433-2440 8 p. 7039760. (Proceedings of the IEEE Conference on Decision and Control; vol. 2015-February, no. February).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Fundamental Limitations 100%
  • Robotic Networks 100%
  • Distributed Decision Making 100%
  • Robotic Network 100%
  • Distributed Optimization 33%
  6 Citations (Scopus)

• Rapid multirobot deployment with time constraints

  Carpin, S., Pavone, M. & Sadler, B. M., Oct 31 2014, IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 1147-1154 8 p. 6942702. (IEEE International Conference on Intelligent Robots and Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • multiple robot 100%
  • Time Constraint 100%
  • Time Constraints 100%
  • Multi-robot 100%
  • Robot 50%
  12 Citations (Scopus)
• 2013

  A uniform-grid discretization algorithm for stochastic optimal control with risk constraints

  Chow, Y. L. & Pavone, M., 2013, 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., p. 2465-2470 6 p. 6760250. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Grid Discretization 100%
  • Discretization Algorithm 100%
  • Uniform Grid 100%
  • Discretization 100%
  • Risk Constraint 100%
  2 Citations (Scopus)

• Decentralized decision-making on robotic networks with hybrid performance metrics

  Rossi, F. & Pavone, M., 2013, 2013 51st Annual Allerton Conference on Communication, Control, and Computing, Allerton 2013. IEEE Computer Society, p. 358-365 8 p. 6736546. (2013 51st Annual Allerton Conference on Communication, Control, and Computing, Allerton 2013).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Communication-optimal 100%
  • Hybrid Performance 100%
  • Link Failure 100%
  • Decentralized Decision-making 100%
  • Cyber-physical Networks 50%
  4 Citations (Scopus)

• Internally-actuated rovers for all-access surface mobility: Theory and experimentation

  Allen, R., Pavone, M., McQuin, C., Nesnas, I. A. D., Castillo-Rogez, J. C., Nguyen, T. N. & Hoffman, J. A., 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 5481-5488 8 p. 6631363. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Contact Surface 100%
  • Experimental Result 100%
  • Limitations 100%
  • Internals 100%
  • Actuation 100%
  29 Citations (Scopus)

• Rebalancing the rebalancers: Optimally routing vehicles and drivers in mobility-on-demand systems

  Smith, S. L., Pavone, M., Schwager, M., Frazzoli, E. & Rus, D., 2013, 2013 American Control Conference, ACC 2013. Institute of Electrical and Electronics Engineers Inc., p. 2362-2367 6 p. 6580187. (Proceedings of the American Control Conference).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Demand systems 100%
  • Urban Transportation 100%
  • Rebalancer 100%
  • Customer Arrives 100%
  • Employed Driver 100%
  62 Citations (Scopus)

• Spacecraft/rover hybrids for the exploration of small Solar System bodies

  Pavone, M., Castillo-Rogez, J. C., Nesnas, I. A. D., Hoffman, J. A. & Strange, N. J., 2013, 2013 IEEE Aerospace Conference, AERO 2013. 6497160. (IEEE Aerospace Conference Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Mission Architecture 100%
  • Small Solar System Bodies 100%
  • Similarities 100%
  • Spacecraft 100%
  • Flywheel 66%
  25 Citations (Scopus)

• Stochastic optimal control with dynamic, time-consistent risk constraints

  Chow, Y. L. & Pavone, M., 2013, 2013 American Control Conference, ACC 2013. p. 390-395 6 p. 6579868. (Proceedings of the American Control Conference).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Optimal Control Problem 100%
  • Risk Constraint 100%
  • Risk Constraints 100%
  • Dynamic Programming 50%
  • Decision Process 25%
  11 Citations (Scopus)
• 2012

  Cost bounds for Pickup and Delivery Problems with application to large-scale transportation systems

  Treleaven, K., Pavone, M. & Frazzoli, E., 2012, 2012 American Control Conference, ACC 2012. Institute of Electrical and Electronics Engineers Inc., p. 2120-2127 8 p. 6315329. (Proceedings of the American Control Conference).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Demand Responsive Transport 100%
  • Cost Bound 100%
  • Pickup-and-delivery Problem 100%
  • Pickup and Delivery Problem 100%
  • Pickup Point 100%
  1 Citation (Scopus)

• Expected science return of spatially-extended in-situ exploration at small Solar system bodies

  Castillo-Rogez, J. C., Pavone, M., Hoffman, J. A. & Nesnas, I. A. D., 2012, 2012 IEEE Aerospace Conference. 6187034. (IEEE Aerospace Conference Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Near Earth Objects 100%
  • Planetary Science 100%
  • Asteroid Belts 100%
  • Decadal Survey 66%
  • Space Exploration 50%
  36 Citations (Scopus)

• Load balancing for mobility-on-demand systems

  Pavone, M., Smith, S. L., Frazzoli, E. & Rus, D., 2012, Robotics: Science and Systems VII. Durrant-Whyte, H., Roy, N. & Abbeel, P. (eds.). MIT Press Journals, p. 249-256 8 p. (Robotics: Science and Systems; vol. 7).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Differential Delay 100%
  • Urban Transportation System 100%
  • Urban Transportation 100%
  • Nonlinear Time Delay 50%
  • Rebalancing Problem 50%
  8 Citations (Scopus)

• Using arm and hand gestures to command robots during stealth operations

  Stoica, A., Assad, C., Wolf, M., You, K. S., Pavone, M., Huntsberger, T. & Iwashita, Y., 2012, Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2012. SPIE, 84070G. (Proceedings of SPIE - The International Society for Optical Engineering; vol. 8407).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Dynamic Gestures 100%
  • Arm Gesture 100%
  • Support Robot 50%
  • Limited Vocabulary 50%
  • Biosignals 50%
• 2011

  An asymptotically optimal algorithm for pickup and delivery problems

  Treleaven, K., Pavone, M. & Frazzoli, E., 2011, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., p. 584-590 7 p. 6161406. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Small Positive Constant 100%
  • Combinatorial Problem 100%
  • Euclidean Bipartite Matching 75%
  • Routing Optimization Problem 75%
  7 Citations (Scopus)
• 2010

  Dynamic vehicle routing with stochastic time constraints

  Pavone, M. & Frazzoli, E., 2010, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. p. 1460-1467 8 p. 5509222. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Light Load 100%
  • Active Demand 100%
  • Steady-state Probabilities 100%
  • State Probability 100%
  • Vehicle Routing Problem 50%
  13 Citations (Scopus)

• Fundamental performance limits and efficient polices for Transportation-On-Demand systems

  Pavone, M., Treleaven, K. & Frazzoli, E., 2010, 2010 49th IEEE Conference on Decision and Control, CDC 2010. Institute of Electrical and Electronics Engineers Inc., p. 5622-5629 8 p. 5717552. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Probability Density 100%
  • Dynamic Routing 100%
  • Fundamental Performance 100%
  • Performance Limits 100%
  • Heuristic Algorithm 50%
  23 Citations (Scopus)
• 2009

  Distributed control of spacecraft formation via cyclic pursuit: Theory and experiments

  Ramirez, J. L., Pavone, M., Frazzoli, E. & Miller, D. W., 2009, 2009 American Control Conference, ACC 2009. p. 4811-4817 7 p. 5160735. (Proceedings of the American Control Conference).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Control Law 100%
  • Distributed Control 100%
  • Experimental Result 33%
  • Potential Application 33%
  • Archimedes 33%
  38 Citations (Scopus)

• Dynamic multi-vehicle routing with multiple classes of demands

  Pavone, M., Smith, S. L., Bullo, F. & Frazzoli, E., 2009, 2009 American Control Conference, ACC 2009. p. 604-609 6 p. 5160557. (Proceedings of the American Control Conference).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Vehicle Routing 100%
  • Convex Combination 100%
  • Quality of Service 33%
  • Constant Factor 33%
  • Multiple Vehicle Classes 25%
  7 Citations (Scopus)

• Equitable partitioning policies for robotic networks

  Pavone, M., Arsie, A., Frazzoli, E. & Bullo, F., 2009, 2009 IEEE International Conference on Robotics and Automation, ICRA '09. p. 2356-2361 6 p. 5152809. (Proceedings - IEEE International Conference on Robotics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Allocation Strategy 100%
  • Resource Allocation 100%
  • Multi Agent Systems 100%
  • Service Request 100%
  • Robotic Network 100%
  41 Citations (Scopus)
• 2008

  Distributed policies for equitable partitioning: Theory and applications

  Pavone, M., Frazzoli, E. & Bullo, F., 2008, Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. Institute of Electrical and Electronics Engineers Inc., p. 4191-4197 7 p. 4739483. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Stochastics 100%
  • Power Diagram 100%
  • Distributed Policies 100%
  • Total Workload 100%
  • Service Request 33%
  32 Citations (Scopus)

• Dynamic vehicle routing with heterogeneous demands

  Smith, S. L., Pavone, M., Bullo, F. & Frazzoli, E., 2008, Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. Institute of Electrical and Electronics Engineers Inc., p. 1206-1211 6 p. 4739284. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Convex Combination 100%
  • Service Completion 100%
  • Queuing Theory 100%
  • Heterogeneous Demand 100%
  • Design Policy 33%
  11 Citations (Scopus)
• 2007

  Decentralized algorithms for stochastic and dynamic vehicle routing with general demand distribution

  Pavone, M., Frazzoli, E. & Bullo, F., 2007, Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC. Institute of Electrical and Electronics Engineers Inc., p. 4869-4874 6 p. 4434989. (Proceedings of the IEEE Conference on Decision and Control).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Stochastic Vehicle Routing 100%
  • Dynamic Vehicle Routing 100%
  • Demand Distribution 100%
  • General Demand 100%
  • Geometric Probability 50%
  28 Citations (Scopus)

• Decentralized policies for geometric pattern formation

  Pavone, M. & Frazzoli, E., 2007, Proceedings of the 2007 American Control Conference, ACC. p. 3949-3954 6 p. 4283108. (Proceedings of the American Control Conference).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Offset Angle 100%
  • Decentralized Policy 100%
  • Common Offset 100%
  • Geometric Patterns 100%
  • Spiral Pattern 100%
  13 Citations (Scopus)

• Decentralized Vehicle Routing in a Stochastic and Dynamic Environment with Customer Impatience

  Pavone, M., Bisnik, N., Frazzoli, E. & Isler, V., 2007, Proceedings of the 1st International Conference on Robot Communication and Coordination, RoboComm 2007. Association for Computing Machinery, (ACM International Conference Proceeding Series).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  • Probability Theory 100%
  • Stochastics 100%
  • Dynamic Environment 100%
  • Service Request 100%
  • Vehicle Routing 100%
  2 Citations (Scopus)