Differential Dynamic Programming for time-delayed systems. - David D. Fan; Evangelos A. Theodorou (CDC, 2016)

Stochastic control of systems with control multiplicative noise using second order FBSDEs. - Kaivalya S. Bakshi; David D. Fan; Evangelos A. Theodorou (ACC, 2017)

Evolving cost functions for model predictive control of multi-agent UAV combat swarms. - David D. Fan; Evangelos A. Theodorou; John Reeder (GECCO (Companion), 2017)

Model-Based Stochastic Search for Large Scale Optimization of Multi-Agent UAV Swarms. - David D. Fan; Evangelos A. Theodorou; John Reeder (SSCI, 2018)

MPC-Inspired Neural Network Policies for Sequential Decision Making. - Marcus Pereira; David D. Fan; Gabriel Nakajima An; Evangelos A. Theodorou (CoRR, 2018)

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 (IROS, 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 (ISRR, 2019)

Towards Resilient Autonomous Navigation of Drones. - Angel Santamaria-Navarro; Rohan Thakker; David D. Fan; Benjamin Morrell; Ali-akbar Agha-mohammadi (ISRR, 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)

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 (ICRA, 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 (IROS, 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 (ISER, 2020)

Deep Learning Tubes for Tube MPC. - David D. Fan; Ali Agha; Evangelos A. Theodorou (Robotics: Science and Systems, 2020)

Deep Learning Tubes for Tube MPC. - David D. Fan; Ali-akbar Agha-mohammadi; Evangelos A. Theodorou (CoRR, 2020)

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 (ICAPS, 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 (Robotics: Science and Systems, 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)

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)

Schrödinger Approach to Optimal Control of Large-Size Populations. - Kaivalya Bakshi; David D. Fan; Evangelos A. Theodorou (IEEE Trans. Autom. Control., 2021)

Safe Robot Planning and Control Using Uncertainty-Aware Deep Learning. - David D. Fan (2021)

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 (ICRA, 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 (IROS, 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)

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)

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 (ICRA, 2023)

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 (CoRL, 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 (ICRA, 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 (IROS, 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 (Robotics: Science and Systems, 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)

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., 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)

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; et al. (CoRR, 2025)