David D. Fan

According to our database, David D. Fan authored at least 33 papers between 2016 and 2025.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2025

Enter the Mind Palace: Reasoning and Planning for Long-term Active Embodied Question Answering.

Muhammad Fadhil Ginting, Dong-Ki Kim, Xiangyun Meng, Andrzej Reinke, Bandi Jai Krishna, Navid Kayhani, Oriana Peltzer, David D. Fan, Amirreza Shaban, Sung-Kyun Kim, Mykel J. Kochenderfer, Ali-akbar Agha-mohammadi, Shayegan Omidshafiei

CoRR, July, 2025

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, Gustavo J. Correa, Maira Saboia, Angel Santamaria-Navarro, Brett Thomas Lopez, Boseong Kim, Chanyoung Jung, Mamoru Sobue, Oriana Peltzer, Joshua Ott, Robert Trybula, Thomas Touma, Marcel Kaufmann, Tiago Stegun Vaquero, Torkom Pailevanian, Matteo Palieri, Yun Chang, Andrzej Reinke, Matthew Anderson, Frederik Schöller, Patrick Spieler, Lillian Clark, Avak Archanian, Kenny Chen, Hovhannes Melikyan, Anushri Dixit, Harrison Delecki, Daniel Pastor, Barry Ridge, Nicolas Marchal, Jose Uribe, Sharmita Dey, Kamak Ebadi, Kyle Coble, Alexander Nikitas Dimopoulos, Vivek Thangavelu, Vivek Shankar Varadharajan, Nicholas Palomo, Antoni Rosinol, Arghya Chatterjee, Christoforos Kanellakis, Björn Lindqvist, Micah Corah, Kyle Strickland, Ryan Stonebraker, Michael Milano, Christopher E. Denniston, Sami Sahnoune, Thomas Claudet, Seungwook Lee, Gautam Salhotra, Edward Terry, Rithvik Musuku, Robin Schmid, Tony Tran, Ara Kourchians, Justin Schachter, Héctor Azpúrua, Levi Resende, Arash Kalantari, Jeremy Nash, Josh Lee, Christopher Patterson, Jennifer G. Blank, Kartik Patath, Yuki Kubo, Ryan Alimo, Yasin Almalioglu, Aaron Curtis, Jacqueline H. Sly, Tesla Wells, Nhut T. Ho, Mykel J. Kochenderfer, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick

CoRR, April, 2025

2024

Low Frequency Sampling in Model Predictive Path Integral Control.

Bogdan I. Vlahov, Jason Gibson, David D. Fan, Patrick Spieler, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou

IEEE Robotics Autom. Lett., May, 2024

STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge.

Anushri Dixit, David D. Fan, Kyohei Otsu, Sharmita Dey, Ali-Akbar Agha-Mohammadi, Joel Burdick

Field Robotics, 2024

SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks.

Muhammad Fadhil Ginting, Sung-Kyun Kim, David D. Fan, Matteo Palieri, Mykel J. Kochenderfer, Ali-akbar Agha-mohammadi

Proceedings of the Robotics: Science and Systems XX, 2024

Semantic Belief Behavior Graph: Enabling Autonomous Robot Inspection in Unknown Environments.

Muhammad Fadhil Ginting, David D. Fan, Sung-Kyun Kim, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments.

Samuel Triest, David D. Fan, Sebastian A. Scherer, Ali-Akbar Agha-Mohammadi

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Velociraptor: Leveraging Visual Foundation Models for Label-Free, Risk-Aware Off-Road Navigation.

Samuel Triest, Matthew Sivaprakasam, Shubhra Aich, David D. Fan, Wenshan Wang, Sebastian A. Scherer

Proceedings of the Conference on Robot Learning, 6-9 November 2024, Munich, Germany., 2024

2023

A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments.

Jason Gibson, Bogdan I. Vlahov, David D. Fan, Patrick Spieler, Daniel Pastor, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

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, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Thomas Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hovhannes Melikyan, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick

Field Robotics, March, 2022

Learning Risk-Aware Costmaps for Traversability in Challenging Environments.

David D. Fan, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou

IEEE Robotics Autom. Lett., 2022

PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains.

Sharmita Dey, David D. Fan, Robin Schmid, Anushri Dixit, Kyohei Otsu, Thomas Touma, Arndt F. Schilling, Ali-Akbar Agha-Mohammadi

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments.

Nitish Dashora, Daniel Shin, Dhruv Shah, Henry A. Leopold, David D. Fan, Ali-Akbar Agha-Mohammadi, Nicholas Rhinehart, Sergey Levine

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021

Safe Robot Planning and Control Using Uncertainty-Aware Deep Learning.

David D. Fan

PhD thesis, 2021

Schrödinger Approach to Optimal Control of Large-Size Populations.

Kaivalya Bakshi, David D. Fan, Evangelos A. Theodorou

IEEE Trans. Autom. Control., 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, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Thomas Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick

CoRR, 2021

STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation.

David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-Akbar Agha-Mohammadi

CoRR, 2021

STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation.

David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-akbar Agha-mohammadi

Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments.

Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra, David D. Fan, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi

Proceedings of the Thirty-First International Conference on Automated Planning and Scheduling, 2021

2020

Deep Learning Tubes for Tube MPC.

David D. Fan, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou

CoRR, 2020

Deep Learning Tubes for Tube MPC.

David D. Fan, Ali Agha, Evangelos A. Theodorou

Proceedings of the Robotics: Science and Systems XVI, 2020

Autonomous Off-Road Navigation over Extreme Terrains with Perceptually-Challenging Conditions.

Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-akbar Agha-mohammadi

Proceedings of the Experimental Robotics - The 17th International Symposium, 2020

Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion.

Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma, Torkom Pailevanian, Sung-Kyun Kim, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Bayesian Learning-Based Adaptive Control for Safety Critical Systems.

David D. Fan, Jennifer Nguyen, Rohan Thakker, Nikhilesh Alatur, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Contact Inertial Odometry: Collisions are your Friend.

Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-akbar Agha-mohammadi

CoRR, 2019

Towards Resilient Autonomous Navigation of Drones.

Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-akbar Agha-mohammadi

Proceedings of the Robotics Research, 2019

Contact Inertial Odometry: Collisions are your Friends.

Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-akbar Agha-mohammadi

Proceedings of the Robotics Research, 2019

Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments.

David D. Fan, Rohan Thakker, Tara Bartlett, Meriem Ben Miled, Leon Kim, Evangelos A. Theodorou, Ali-akbar Agha-mohammadi

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

2018

MPC-Inspired Neural Network Policies for Sequential Decision Making.

Marcus Pereira, David D. Fan, Gabriel Nakajima An, Evangelos A. Theodorou

CoRR, 2018

Model-Based Stochastic Search for Large Scale Optimization of Multi-Agent UAV Swarms.

David D. Fan, Evangelos A. Theodorou, John Reeder

Proceedings of the IEEE Symposium Series on Computational Intelligence, 2018

2017

Evolving cost functions for model predictive control of multi-agent UAV combat swarms.

David D. Fan, Evangelos A. Theodorou, John Reeder

Proceedings of the Genetic and Evolutionary Computation Conference, 2017

Stochastic control of systems with control multiplicative noise using second order FBSDEs.

Kaivalya S. Bakshi, David D. Fan, Evangelos A. Theodorou

Proceedings of the 2017 American Control Conference, 2017

2016

Differential Dynamic Programming for time-delayed systems.

David D. Fan, Evangelos A. Theodorou

Proceedings of the 55th IEEE Conference on Decision and Control, 2016