Online heterogeneous multiagent learning under limited communication with applications to forest fire management. - N. Kemal Ure; Shayegan Omidshafiei; Brett Thomas Lopez; Ali-akbar Agha-mohammadi; Jonathan P. How; John Vian (IROS, 2015)

Hierarchical Bayesian Noise Inference for Robust Real-time Probabilistic Object Classification. - Shayegan Omidshafiei; Brett T. Lopez; Jonathan P. How; John Vian (CoRR, 2016)

Aggressive 3-D collision avoidance for high-speed navigation. - Brett T. Lopez; Jonathan P. How (ICRA, 2017)

Semantic-level decentralized multi-robot decision-making using probabilistic macro-observations. - Shayegan Omidshafiei; Shih-Yuan Liu; Michael Everett; Brett T. Lopez; Christopher Amato; Miao Liu 001; Jonathan P. How; John Vian (ICRA, 2017)

Aggressive collision avoidance with limited field-of-view sensing. - Brett T. Lopez; Jonathan P. How (IROS, 2017)

Robust Powered Descent with Control Contraction Metrics. - Brett T. Lopez; Jean-Jacques E. Slotine; Jonathan P. How (CDC, 2018)

Robust Collision Avoidance via Sliding Control. - Brett T. Lopez; Jean-Jacques E. Slotine; Jonathan P. How (ICRA, 2018)

Dynamic Tube MPC for Nonlinear Systems. - Brett T. Lopez; Jonathan P. How; Jean-Jacques E. Slotine (ACC, 2019)

Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments. - Jesus Tordesillas; Brett T. Lopez; John Carter; John Ware; Jonathan P. How (ICRA, 2019)

FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments. - Jesus Tordesillas; Brett T. Lopez; Jonathan P. How (IROS, 2019)

FaSTraP: Fast and Safe Trajectory Planner for Flights in Unknown Environments. - Jesus Tordesillas; Brett T. Lopez; Jonathan P. How (CoRR, 2019)

Contraction Metrics in Adaptive Nonlinear Control. - Brett T. Lopez; Jean-Jacques E. Slotine (CoRR, 2019)

Dynamic Landing of an Autonomous Quadrotor on a Moving Platform in Turbulent Wind Conditions. - Aleix Paris; Brett T. Lopez; Jonathan P. How (ICRA, 2020)

FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments. - Jesus Tordesillas; Brett T. Lopez; Michael Everett; Jonathan P. How (CoRR, 2020)

Adaptive Safety for Uncertain Nonlinear Systems with Control Barrier Functions and Contraction Metrics. - Brett T. Lopez; Jean-Jacques E. Slotine; Jonathan P. How (CoRR, 2020)

Performance Analysis of Adaptive Dynamic Tube MPC. - Savva Morozov; Parker C. Lusk; Brett T. Lopez; Jonathan P. How (CoRR, 2020)

Universal Adaptive Control for Uncertain Nonlinear Systems. - Brett T. Lopez; Jean-Jacques E. Slotine (CoRR, 2020)

Safe Motion Planning with Tubes and Contraction Metrics. - Sumeet Singh; Hiroyasu Tsukamoto; Brett T. Lopez; Soon-Jo Chung; Jean-Jacques E. Slotine (CDC, 2021)

Sliding on Manifolds: Geometric Attitude Control with Quaternions. - Brett T. Lopez; Jean-Jacques E. Slotine (ICRA, 2021)

Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints. - Kenny Chen; Alexandra Pogue; Brett T. Lopez; Ali-Akbar Agha-Mohammadi; Ankur Mehta (IROS, 2021)

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (CoRR, 2021)

Adaptive Nonlinear Control With Contraction Metrics. - Brett T. Lopez; Jean-Jacques E. Slotine (IEEE Control. Syst. Lett., 2021)

Robust Adaptive Control Barrier Functions: An Adaptive and Data-Driven Approach to Safety. - Brett T. Lopez; Jean-Jacques E. Slotine; Jonathan P. How (IEEE Control. Syst. Lett., 2021)

Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter With Adaptive Behaviors. - Seyed Abolfazl Fakoorian; Angel Santamaria-Navarro; Brett Thomas Lopez; Dan Simon; Ali-akbar Agha-mohammadi (IEEE Robotics Autom. Lett., 2021)

Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments. - Amanda Bouman; Joshua Ott; Sung-Kyun Kim; Kenny Chen; Mykel J. Kochenderfer; Brett T. Lopez; Ali-akbar Agha-mohammadi; Joel Burdick (IROS, 2022)

Adaptive Variants of Optimal Feedback Policies. - Brett T. Lopez; Jean-Jacques E. Slotine (L4DC, 2022)

Direct LiDAR-Inertial Odometry. - Kenny Chen; Ryan Nemiroff; Brett T. Lopez (CoRR, 2022)

Universal Adaptive Control of Nonlinear Systems. - Brett T. Lopez; Jean-Jacques E. Slotine (IEEE Control. Syst. Lett., 2022)

Direct LiDAR Odometry: Fast Localization With Dense Point Clouds. - Kenny Chen; Brett T. Lopez; Ali-akbar Agha-mohammadi; Ankur Mehta (IEEE Robotics Autom. Lett., 2022)

FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments. - Jesus Tordesillas; Brett T. Lopez; Michael Everett; Jonathan P. How (IEEE Trans. Robotics, 2022)

NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (Field Robotics, 2022)

Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety. - Brett T. Lopez; Jean-Jacques E. Slotine (ACC, 2023)

Adaptive Robust Control Contraction Metrics: Transient Bounds in Adaptive Control with Unmatched Uncertainties. - Samuel G. Gessow; Brett T. Lopez (CDC, 2023)

Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction. - Kenny Chen; Ryan Nemiroff; Brett T. Lopez (ICRA, 2023)

Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping. - Ryan Nemiroff; Kenny Chen; Brett T. Lopez (IROS, 2023)

A Contracting Hierarchical Observer for Pose-Inertial Fusion. - Brett T. Lopez (CoRR, 2023)

Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation. - Ryan Nemiroff; Kenny Chen; Brett T. Lopez (CoRR, 2023)

Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM. - Kenny Chen; Ryan Nemiroff; Brett T. Lopez (CoRR, 2023)

Multi-Robot Task Assignment and Path Finding for Time-Sensitive Missions with Online Task Generation. - David Thorne; Brett T. Lopez (CoRR, 2023)

LiDAR Inertial Odometry And Mapping Using Learned Registration-Relevant Features. - Zihao Dong; Jeff Pflueger; Leonard Jung; David Thorne; Philip R. Osteen; Christa S. Robison; Brett T. Lopez; Michael Everett (CoRR, 2024)

Submodular Optimization for Keyframe Selection & Usage in SLAM. - David Thorne; Nathan Chan; Yanlong Ma; Christa S. Robison; Philip R. Osteen; Brett T. Lopez (CoRR, 2024)

Quaternion Sliding Variables in Manipulator Control. - Brett T. Lopez; Jean-Jacques E. Slotine (CoRR, 2024)

STITCHER: Real-Time Trajectory Planning with Motion Primitive Search. - Helene J. Levy; Brett T. Lopez (CoRR, 2024)

Information Control Barrier Functions: Preventing Localization Failures in Mobile Systems Through Control. - Samuel G. Gessow; David Thorne; Brett T. Lopez (IEEE Control. Syst. Lett., 2024)

Dynamic Adaptation Gains for Nonlinear Systems With Unmatched Uncertainties. - Brett T. Lopez; Jean-Jacques E. Slotine (IEEE Control. Syst. Lett., 2024)

An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Sung-Kyun Kim; Muhammad Fadhil Ginting; Xianmei Lei; Jeffrey A. Edlund; Seyed Abolfazl Fakoorian; Amanda Bouman; Fernando Chavez; Taeyeon Kim; et al. (CoRR, 2025)

Two-Impulse Trajectory Design in Two-Body Systems With Riemannian Geometry. - Samuel G. Gessow; James Tseng; Eden Zafran; Brett T. Lopez (CoRR, 2025)