A model predictive control approach to flow pacing for TCP. - David Fridovich-Keil; Nathan Hanford; Margaret P. Chapman; Claire J. Tomlin; Matthew K. Farrens; Dipak Ghosal (Allerton, 2017)

AtomMap: A probabilistic amorphous 3D map representation for robotics and surface reconstruction. - David Fridovich-Keil; Erik Nelson; Avideh Zakhor (ICRA, 2017)

Fully Decentralized Policies for Multi-Agent Systems: An Information Theoretic Approach. - Roel Dobbe; David Fridovich-Keil; Claire J. Tomlin (NIPS, 2017)

Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning. - David Fridovich-Keil; Sylvia L. Herbert; Jaime F. Fisac; Sampada Deglurkar; Claire J. Tomlin (ICRA, 2018)

Probabilistically Safe Robot Planning with Confidence-Based Human Predictions. - Jaime F. Fisac; Andrea Bajcsy; Sylvia L. Herbert; David Fridovich-Keil; Steven Wang; Claire J. Tomlin; Anca D. Dragan (Robotics: Science and Systems, 2018)

Classification-based Approximate Reachability with Guarantees Applied to Safe Trajectory Tracking. - Vicenc Rubies-Royo; David Fridovich-Keil; Sylvia L. Herbert; Claire J. Tomlin (CoRR, 2018)

Data-Driven Decentralized Optimal Power Flow. - Roel Dobbe; Oscar Sondermeijer; David Fridovich-Keil; Daniel Arnold 001; Duncan S. Callaway; Claire J. Tomlin (CoRR, 2018)

A Successive-Elimination Approach to Adaptive Robotic Sensing. - Esther Rolf; David Fridovich-Keil; Max Simchowitz; Benjamin Recht; Claire J. Tomlin (CoRR, 2018)

Safe and Complete Real-Time Planning and Exploration in Unknown Environments. - David Fridovich-Keil; Jaime F. Fisac; Claire J. Tomlin (CoRR, 2018)

A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance. - Andrea Bajcsy; Sylvia L. Herbert; David Fridovich-Keil; Jaime F. Fisac; Sampada Deglurkar; Anca D. Dragan; Claire J. Tomlin (ICRA, 2019)

Safely Probabilistically Complete Real-Time Planning and Exploration in Unknown Environments. - David Fridovich-Keil; Jaime F. Fisac; Claire J. Tomlin (ICRA, 2019)

A Classification-based Approach for Approximate Reachability. - Vicenc Rubies-Royo; David Fridovich-Keil; Sylvia L. Herbert; Claire J. Tomlin (ICRA, 2019)

Efficient Iterative Linear-Quadratic Approximations for Nonlinear Multi-Player General-Sum Differential Games. - David Fridovich-Keil; Ellis Ratner; Anca D. Dragan; Claire J. Tomlin (CoRR, 2019)

Feedback Linearization for Unknown Systems via Reinforcement Learning. - Tyler Westenbroek; David Fridovich-Keil; Eric Mazumdar; Shreyas Arora; Valmik Prabhu; S. Shankar Sastry; Claire J. Tomlin (CoRR, 2019)

Inference-Based Strategy Alignment for General-Sum Differential Games. - Lasse Peters; David Fridovich-Keil; Claire J. Tomlin; Zachary N. Sunberg (AAMAS, 2020)

Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning. - Tyler Westenbroek; Eric Mazumdar; David Fridovich-Keil; Valmik Prabhu; Claire J. Tomlin; S. Shankar Sastry (CDC, 2020)

Efficient Iterative Linear-Quadratic Approximations for Nonlinear Multi-Player General-Sum Differential Games. - David Fridovich-Keil; Ellis Ratner; Lasse Peters; Anca D. Dragan; Claire J. Tomlin (ICRA, 2020)

An Iterative Quadratic Method for General-Sum Differential Games with Feedback Linearizable Dynamics. - David Fridovich-Keil; Vicenc Rubies-Royo; Claire J. Tomlin (ICRA, 2020)

Feedback Linearization for Uncertain Systems via Reinforcement Learning. - Tyler Westenbroek; David Fridovich-Keil; Eric Mazumdar; Shreyas Arora; Valmik Prabhu; S. Shankar Sastry; Claire J. Tomlin (ICRA, 2020)

Technical Report: Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning. - Tyler Westenbroek; Eric Mazumdar; David Fridovich-Keil; Valmik Prabhu; Claire J. Tomlin; S. Shankar Sastry (CoRR, 2020)

Confidence-aware motion prediction for real-time collision avoidance1. - David Fridovich-Keil; Andrea Bajcsy; Jaime F. Fisac; Sylvia L. Herbert; Steven Wang; Anca D. Dragan; Claire J. Tomlin (Int. J. Robotics Res., 2020)

Toward Distributed Energy Services: Decentralizing Optimal Power Flow With Machine Learning. - Roel Dobbe; Oscar Sondermeijer; David Fridovich-Keil; Daniel Arnold 001; Duncan S. Callaway; Claire J. Tomlin (IEEE Trans. Smart Grid, 2020)

Practical Algorithms for Reliable Autonomy - David Fridovich-Keil (2020)

Augmented Lagrangian Method for Instantaneously Constrained Reinforcement Learning Problems. - Jingqi Li 001; David Fridovich-Keil; Somayeh Sojoudi; Claire J. Tomlin (CDC, 2021)

Encoding Defensive Driving as a Dynamic Nash Game. - Chih-Yuan Chiu; David Fridovich-Keil; Claire J. Tomlin (ICRA, 2021)

Approximate Solutions to a Class of Reachability Games. - David Fridovich-Keil; Claire J. Tomlin (ICRA, 2021)

Multi-Hypothesis Interactions in Game-Theoretic Motion Planning. - Forrest Laine; David Fridovich-Keil; Chih-Yuan Chiu; Claire J. Tomlin (ICRA, 2021)

Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations. - Lasse Peters; David Fridovich-Keil; Vicenc Rubies-Royo; Claire J. Tomlin; Cyrill Stachniss (Robotics: Science and Systems, 2021)

Back to the Future: Efficient, Time-Consistent Solutions in Reach-Avoid Games. - Dennis R. Anthony; David Fridovich-Keil; Jaime F. Fisac (CoRR, 2021)

A Successive-Elimination Approach to Adaptive Robotic Source Seeking. - Esther Rolf; David Fridovich-Keil; Max Simchowitz; Benjamin Recht; Claire J. Tomlin (IEEE Trans. Robotics, 2021)

Alternating Direction Method of Multipliers for Decomposable Saddle-Point Problems. - Mustafa O. Karabag; David Fridovich-Keil; Ufuk Topcu (Allerton, 2022)

GTP-SLAM: Game-Theoretic Priors for Simultaneous Localization and Mapping in Multi-Agent Scenarios. - Chih-Yuan Chiu; David Fridovich-Keil (CDC, 2022)

Back to the Future: Efficient, Time-Consistent Solutions in Reach-Avoid Games. - Dennis R. Anthony; Duy Phuong Nguyen; David Fridovich-Keil; Jaime F. Fisac (ICRA, 2022)

Self-Supervised Traffic Advisors: Distributed, Multi-view Traffic Prediction for Smart Cities. - Jiankai Sun; Shreyas Kousik; David Fridovich-Keil; Mac Schwager (ITSC, 2022)

Learning Mixed Strategies in Trajectory Games. - Lasse Peters; David Fridovich-Keil; Laura Ferranti; Cyrill Stachniss; Javier Alonso-Mora; Forrest Laine (Robotics: Science and Systems, 2022)

Hierarchical Control for Multi-Agent Autonomous Racing. - Rishabh Saumil Thakkar; Aryaman Singh Samyal; David Fridovich-Keil; Zhe Xu 005; Ufuk Topcu (CoRR, 2022)

Relationship Design for Socially Desirable Behavior in Static Games. - Shenghui Chen; Yigit E. Bayiz; David Fridovich-Keil; Yue Yu 004; Ufuk Topcu (CoRR, 2022)

Inverse Matrix Games with Unique Nash Equilibrium. - Yue Yu 004; Jonathan Salfity; David Fridovich-Keil; Ufuk Topcu (CoRR, 2022)

Cost Design in Atomic Routing Games. - Yue Yu 004; Shenghui Chen; David Fridovich-Keil; Ufuk Topcu (ACC, 2023)

GrAVITree: Graph-based Approximate Value Function In a Tree. - Patrick H. Washington; David Fridovich-Keil; Mac Schwager (ACC, 2023)

Cost Inference for Feedback Dynamic Games from Noisy Partial State Observations and Incomplete Trajectories. - Jingqi Li 001; Chih-Yuan Chiu; Lasse Peters; Somayeh Sojoudi; Claire J. Tomlin; David Fridovich-Keil (AAMAS, 2023)

Soft-Bellman Equilibrium in Affine Markov Games: Forward Solutions and Inverse Learning. - Shenghui Chen; Yue Yu 004; David Fridovich-Keil; Ufuk Topcu (CDC, 2023)

Scenario-Game ADMM: A Parallelized Scenario-Based Solver for Stochastic Noncooperative Games. - Jingqi Li 001; Chih-Yuan Chiu; Lasse Peters; Fernando Palafox; Mustafa O. Karabag; Javier Alonso-Mora; Somayeh Sojoudi; Claire J. Tomlin; David Fridovich-Keil (CDC, 2023)

Risk-Minimizing Two-Player Zero-Sum Stochastic Differential Game via Path Integral Control. - Apurva Patil; Yujing Zhou; David Fridovich-Keil; Takashi Tanaka (CDC, 2023)

Enabling Efficient, Reliable Real-World Reinforcement Learning with Approximate Physics-Based Models. - Tyler Westenbroek; Jacob Levy; David Fridovich-Keil (CoRL, 2023)

Robust Forecasting for Robotic Control: A Game-Theoretic Approach. - Shubhankar Agarwal; David Fridovich-Keil; Sandeep P. Chinchali (ICRA, 2023)

Connected Autonomous Vehicle Motion Planning with Video Predictions from Smart, Self-Supervised Infrastructure. - Jiankai Sun; Shreyas Kousik; David Fridovich-Keil; Mac Schwager (ITSC, 2023)

Learning Players' Objectives in Continuous Dynamic Games from Partial State Observations. - Lasse Peters; Vicenc Rubies-Royo; Claire J. Tomlin; Laura Ferranti; Javier Alonso-Mora; Cyrill Stachniss; David Fridovich-Keil (CoRR, 2023)

Identifying Occluded Agents in Dynamic Games with Noise-Corrupted Observations. - Tianyu Qiu; David Fridovich-Keil (CoRR, 2023)

Feedback is All You Need: Real-World Reinforcement Learning with Approximate Physics-Based Models. - Tyler Westenbroek; Jacob Levy; David Fridovich-Keil (CoRR, 2023)

Active Inverse Learning in Stackelberg Trajectory Games. - Yue Yu 004; Jacob Levy; Negar Mehr; David Fridovich-Keil; Ufuk Topcu (CoRR, 2023)

Game-theoretic Occlusion-Aware Motion Planning: an Efficient Hybrid-Information Approach. - Kushagra Gupta; David Fridovich-Keil (CoRR, 2023)

GPSINDy: Data-Driven Discovery of Equations of Motion. - Junette Hsin; Shubhankar Agarwal; Adam J. Thorpe; David Fridovich-Keil (CoRR, 2023)

Learning Hyperplanes for Multi-Agent Collision Avoidance in Space. - Fernando Palafox; Yue Yu 004; David Fridovich-Keil (CoRR, 2023)

Inverse Matrix Games With Unique Quantal Response Equilibrium. - Yue Yu 004; Jonathan Salfity; David Fridovich-Keil; Ufuk Topcu (IEEE Control. Syst. Lett., 2023)

The Computation of Approximate Generalized Feedback Nash Equilibria. - Forrest Laine; David Fridovich-Keil; Chih-Yuan Chiu; Claire J. Tomlin (SIAM J. Optim., 2023)

Online and offline learning of player objectives from partial observations in dynamic games. - Lasse Peters; Vicenc Rubies-Royo; Claire J. Tomlin; Laura Ferranti; Javier Alonso-Mora; Cyrill Stachniss; David Fridovich-Keil (Int. J. Robotics Res., 2023)

Encouraging Inferable Behavior for Autonomy: Repeated Bimatrix Stackelberg Games with Observations. - Mustafa O. Karabag; Sophia Smith; David Fridovich-Keil; Ufuk Topcu (ACC, 2024)

Sensing Resource Allocation Against Data-Poisoning Attacks in Traffic Routing. - Yue Yu 004; Adam J. Thorpe; Jesse Milzman; David Fridovich-Keil; Ufuk Topcu (CDC, 2024)

Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models. - Jacob Levy; Tyler Westenbroek; David Fridovich-Keil (CoRL, 2024)

An investigation of time reversal symmetry in reinforcement learning. - Brett Barkley; Amy Zhang 001; David Fridovich-Keil (L4DC, 2024)

The computation of approximate feedback Stackelberg equilibria in multi-player nonlinear constrained dynamic games. - Jingqi Li 001; Somayeh Sojoudi; Claire J. Tomlin; David Fridovich-Keil (CoRR, 2024)

Auto-Encoding Bayesian Inverse Games. - Xinjie Liu; Lasse Peters; Javier Alonso-Mora; Ufuk Topcu; David Fridovich-Keil (CoRR, 2024)

Decomposing Control Lyapunov Functions for Efficient Reinforcement Learning. - Antonio Lopez; David Fridovich-Keil (CoRR, 2024)

Act Natural! Projecting Autonomous System Trajectories Into Naturalistic Behavior Sets. - Hamzah Khan; Adam J. Thorpe; David Fridovich-Keil (CoRR, 2024)

Second-Order Algorithms for Finding Local Nash Equilibria in Zero-Sum Games. - Kushagra Gupta; Xinjie Liu; Ufuk Topcu; David Fridovich-Keil (CoRR, 2024)

Learning responsibility allocations for multi-agent interactions: A differentiable optimization approach with control barrier functions. - Isaac Remy; David Fridovich-Keil; Karen Leung (CoRR, 2024)

Improving DeFi Mechanisms with Dynamic Games and Optimal Control: A Case Study in Stablecoins. - Nicholas Strohmeyer; Sriram Vishwanath; David Fridovich-Keil (CoRR, 2024)

Inferring Short-Sightedness in Dynamic Noncooperative Games. - Cade Armstrong; Ryan Park; Xinjie Liu; Kushagra Gupta; David Fridovich-Keil (CoRR, 2024)

Stealing That Free Lunch: Exposing the Limits of Dyna-Style Reinforcement Learning. - Brett Barkley; David Fridovich-Keil (CoRR, 2024)

Coordination in Noncooperative Multiplayer Matrix Games via Reduced Rank Correlated Equilibria. - Jaehan Im; Yue Yu 004; David Fridovich-Keil; Ufuk Topcu (IEEE Control. Syst. Lett., 2024)

Hierarchical Control for Head-to-Head Autonomous Racing. - Rishabh Saumil Thakkar; Aryaman Singh Samyal; David Fridovich-Keil; Zhe Xu 005; Ufuk Topcu (Field Robotics, 2024)

Contingency Games for Multi-Agent Interaction. - Lasse Peters; Andrea Bajcsy; Chih-Yuan Chiu; David Fridovich-Keil; Forrest Laine; Laura Ferranti; Javier Alonso-Mora (IEEE Robotics Autom. Lett., 2024)

The Computation of Approximate Feedback Stackelberg Equilibria in Multiplayer Nonlinear Constrained Dynamic Games. - Jingqi Li 001; Somayeh Sojoudi; Claire J. Tomlin; David Fridovich-Keil (SIAM J. Optim., 2024)

Leadership Inference for Multi-Agent Interactions. - Hamzah Khan; David Fridovich-Keil (IEEE Robotics Autom. Lett., 2024)

Hierarchical Control for Cooperative Teams in Competitive Autonomous Racing. - Rishabh Saumil Thakkar; Aryaman Singh Samyal; David Fridovich-Keil; Zhe Xu 005; Ufuk Topcu (IEEE Trans. Intell. Veh., 2024)

Inferring Occluded Agent Behavior in Dynamic Games From Noise Corrupted Observations. - Tianyu Qiu; David Fridovich-Keil (IEEE Robotics Autom. Lett., 2024)

Policies with Sparse Inter-Agent Dependencies in Dynamic Games: A Dynamic Programming Approach. - Xinjie Liu; Jingqi Li 001; Filippos Fotiadis; Mustafa O. Karabag; Jesse Milzman; David Fridovich-Keil; Ufuk Topcu (AAMAS, 2025)

Smooth Information Gathering in Two-Player Noncooperative Games. - Fernando Palafox; Jesse Milzman; Dong Ho Lee; Ryan Park; David Fridovich-Keil (AAMAS, 2025)

Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations. - Cevahir Köprülü; Po-han Li; Tianyu Qiu; Ruihan Zhao 001; Tyler Westenbroek; David Fridovich-Keil; Sandeep Chinchali; Ufuk Topcu (L4DC, 2025)

Gators: a Game-Theoretic Tool for Optimal Robot Selection and Design in Surface Coverage Applications. - Steven Swanbeck; Daniel I. Meza; Jared Rosenbaum; David Fridovich-Keil; Mitch Pryor (UR, 2025)

More Information Is Not Always Better: Connections Between Zero-Sum Local Nash Equilibria in Feedback and Open-Loop Information Patterns. - Kushagra Gupta; Ross E. Allen; David Fridovich-Keil; Ufuk Topcu (IEEE Control. Syst. Lett., 2025)

A Convex Formulation of Game-Theoretic Hierarchical Routing. - Dong Ho Lee; Kaitlyn Donnel; Max Z. Li; David Fridovich-Keil (IEEE Control. Syst. Lett., 2025)

A Framework for Finding Local Saddle Points in Two-Player Zero-Sum Black-Box Games. - Shubhankar Agarwal; Hamzah Khan; Sandeep P. Chinchali; David Fridovich-Keil (Trans. Mach. Learn. Res., 2025)

Noncooperative Equilibrium Selection via a Trading-based Auction. - Jaehan Im; Filippos Fotiadis; Daniel Delahaye; Ufuk Topcu; David Fridovich-Keil (CoRR, 2025)

Multi-Fidelity Policy Gradient Algorithms. - Xinjie Liu; Cyrus Neary; Kushagra Gupta; Christian Ellis; Ufuk Topcu; David Fridovich-Keil (CoRR, 2025)

Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving. - Jacob Levy; Jason Gibson; Bogdan I. Vlahov; Erica Tevere; Evangelos A. Theodorou; David Fridovich-Keil; Patrick Spieler (CoRR, 2025)

PSN Game: Game-theoretic Planning via a Player Selection Network. - Tianyu Qiu; Eric Ouano; Fernando Palafox; Christian Ellis; David Fridovich-Keil (CoRR, 2025)

Act Natural! Extending Naturalistic Projection to Multimodal Behavior Scenarios. - Hamzah Khan; David Fridovich-Keil (CoRR, 2025)

Real-Time Privacy Preservation for Robot Visual Perception. - Minkyu Choi 001; Yunhao Yang; Neel P. Bhatt; Kushagra Gupta; Sahil Shah; Aditya Rai; David Fridovich-Keil; Ufuk Topcu; Sandeep P. Chinchali (CoRR, 2025)

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics. - Lizhi Yang; Blake Werner; Ryan K. Cosner; David Fridovich-Keil; Preston Culbertson; Aaron D. Ames (CoRR, 2025)

Cooperative Bargaining Games Without Utilities: Mediated Solutions from Direction Oracles. - Kushagra Gupta; Surya Murthy; Mustafa O. Karabag; Ufuk Topcu; David Fridovich-Keil (CoRR, 2025)

Relationship design for socially-aware behavior in static games. - Shenghui Chen; Yigit E. Bayiz; David Fridovich-Keil; Ufuk Topcu (Auton. Agents Multi Agent Syst., 2025)

Approximate solutions to games of ordered preference. - Pau de las Heras Molins; Eric Roy-Almonacid; Dong Ho Lee; Lasse Peters; David Fridovich-Keil; Georgios Bakirtzis (CoRR, 2025)

You Can't Always Get What You Want: Games of Ordered Preference. - Dong Ho Lee; Lasse Peters; David Fridovich-Keil (IEEE Robotics Autom. Lett., 2025)