Emilio Frazzoli

According to our database1, Emilio Frazzoli authored at least 285 papers between 2001 and 2021.

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Bibliography

2021
Scalable Model Predictive Control for Autonomous Mobility-on-Demand Systems.
IEEE Trans. Control. Syst. Technol., 2021

A Compositional Sheaf-Theoretic Framework for Event-Based Systems.
CoRR, 2021

Rule-based Optimal Control for Autonomous Driving.
CoRR, 2021

2020
The Value of Coordination in One-Way Mobility-on-Demand Systems.
IEEE Trans. Netw. Sci. Eng., 2020

The +1 Method: Model-Free Adaptive Repositioning Policies for Robotic Multi-Agent Systems.
IEEE Trans. Netw. Sci. Eng., 2020

Co-Design of Autonomous Systems: From Hardware Selection to Control Synthesis.
CoRR, 2020

A Formal Approach to the Co-Design of Embodied Intelligence.
CoRR, 2020

Minimum-Violation Planning for Autonomous Systems: Theoretical and Practical Considerations.
CoRR, 2020

Co-Design to Enable User-Friendly Tools to Assess the Impact of Future Mobility Solutions.
CoRR, 2020

On the Co-Design of AV-Enabled Mobility Systems.
CoRR, 2020

On the Co-Design of AV-Enabled Mobility Systems.
Proceedings of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020

Integrated Benchmarking and Design for Reproducible and Accessible Evaluation of Robotic Agents.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Revisiting the Asymptotic Optimality of RRT.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019
Imbalance in Mobility-on-Demand Systems: A Stochastic Model and Distributed Control Approach.
ACM Trans. Spatial Algorithms Syst., 2019

Regulation of Linear Systems Using Event-Based Detection Sensors.
IEEE Trans. Autom. Control., 2019

Quantifying the effect of representations on task complexity.
CoRR, 2019

Towards a Co-Design Framework for Future Mobility Systems.
CoRR, 2019

Integrated Intelligent and Predictive Control: A Multi-Agent Adaptive Type-2 Fuzzy Control Architecture.
CoRR, 2019

The AI Driving Olympics at NeurIPS 2018.
CoRR, 2019

Cross-Modal Learning Filters for RGB-Neuromorphic Wormhole Learning.
Proceedings of the Robotics: Science and Systems XV, 2019

On Maximizing Lateral Clearance of an Autonomous Vehicle in Urban Environments.
Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference, 2019

Learning to Operate a Fleet of Cars.
Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference, 2019

Today Me, Tomorrow Thee: Efficient Resource Allocation in Competitive Settings using Karma Games.
Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference, 2019

Wormhole Learning.
Proceedings of the International Conference on Robotics and Automation, 2019

Model Predictive Control of Ride-sharing Autonomous Mobility-on-Demand Systems.
Proceedings of the International Conference on Robotics and Automation, 2019

What lies in the shadows? Safe and computation-aware motion planning for autonomous vehicles using intent-aware dynamic shadow regions.
Proceedings of the International Conference on Robotics and Automation, 2019

Liability, Ethics, and Culture-Aware Behavior Specification using Rulebooks.
Proceedings of the International Conference on Robotics and Automation, 2019

2018
Switching and Data Injection Attacks on Stochastic Cyber-Physical Systems: Modeling, Resilient Estimation, and Attack Mitigation.
ACM Trans. Cyber Phys. Syst., 2018

Guest editorial: Special issue on distributed robotics - from fundamentals to applications.
Auton. Robots, 2018

Locally-optimal multi-robot navigation under delaying disturbances using homotopy constraints.
Auton. Robots, 2018

AMoDeus, a Simulation-Based Testbed for Autonomous Mobility-on-Demand Systems.
Proceedings of the 21st International Conference on Intelligent Transportation Systems, 2018

Adaptive Optimal Receding-Horizon Robot Navigation via Short-Term Policy Development.
Proceedings of the 15th International Conference on Control, 2018

Asymptotically Optimal Pruning for Nonholonomic Nearest-Neighbor Search.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018

Fleet Sizing in Vehicle Sharing Systems with Service Quality Guarantees.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018

2017
Iterative Tuning With Reactive Compensation for Urban Traffic Signal Control.
IEEE Trans. Control. Syst. Technol., 2017

Analysis of Price of Total Anarchy in Congestion Games via Smoothness Arguments.
IEEE Trans. Control. Netw. Syst., 2017

Simultaneous Input and State Estimation for Linear Time-Varying Continuous-Time Stochastic Systems.
IEEE Trans. Autom. Control., 2017

Numerical Approach to Reachability-Guided Sampling-Based Motion Planning Under Differential Constraints.
IEEE Robotics Autom. Lett., 2017

Verification and Synthesis of Admissible Heuristics for Kinodynamic Motion Planning.
IEEE Robotics Autom. Lett., 2017

On-demand high-capacity ride-sharing via dynamic trip-vehicle assignment.
Proc. Natl. Acad. Sci. USA, 2017

Supermodular Batch State Estimation in Optimal Sensor Scheduling.
IEEE Control. Syst. Lett., 2017

Efficient Nearest-Neighbor Search for Dynamical Systems with Nonholonomic Constraints.
CoRR, 2017

Ridepooling with trip-chaining in a shared-vehicle mobility-on-demand system.
Proceedings of the 20th IEEE International Conference on Intelligent Transportation Systems, 2017

Landmark guided probabilistic roadmap queries.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017


Torque efficient motion through singularity.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Stabilization of stochastic linear continuous-time systems using noisy neuromorphic vision sensors.
Proceedings of the 2017 American Control Conference, 2017

Supermodular mean squared error minimization for sensor scheduling in optimal Kalman Filtering.
Proceedings of the 2017 American Control Conference, 2017

Selection of input primitives for the generalized label correcting method.
Proceedings of the 2017 American Control Conference, 2017

2016
IEEE Transactions on Intelligent Vehicles Senior Associate Editors.
IEEE Trans. Intell. Veh., 2016

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles.
IEEE Trans. Intell. Veh., 2016

Asymptotically optimal feedback planning using a numerical Hamilton-Jacobi-Bellman solver and an adaptive mesh refinement.
Int. J. Robotics Res., 2016

RRT<sup>X</sup>: Asymptotically optimal single-query sampling-based motion planning with quick replanning.
Int. J. Robotics Res., 2016

An incremental sampling-based algorithm for stochastic optimal control.
Int. J. Robotics Res., 2016

Efficient collision checking in sampling-based motion planning via safety certificates.
Int. J. Robotics Res., 2016

Simultaneous Mode, Input and State Estimation for Switched Linear Stochastic Systems.
CoRR, 2016

Set-Point Regulation of Linear Continuous-Time Systems using Neuromorphic Vision Sensors.
CoRR, 2016

Design of Admissible Heuristics for Kinodynamic Motion Planning via Sum-of-Squares Programming.
CoRR, 2016

Distributed robust adaptive equilibrium computation for generalized convex games.
Autom., 2016

A unified filter for simultaneous input and state estimation of linear discrete-time stochastic systems.
Autom., 2016

Effcient Nearest-Neighbor Search for Dynamical Systems with Nonholonomic Constraints.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

A Generalized Label Correcting Method for Optimal Kinodynamic Motion Planning.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Fast Joint Compatibility Branch and Bound for feature cloud matching.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Provably safe and deadlock-free execution of multi-robot plans under delaying disturbances.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

POMDP-lite for robust robot planning under uncertainty.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Adaptive hidden mode tracking control with input constraints and bounded disturbances.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Stabilization of linear continuous-time systems using neuromorphic vision sensors.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Back-pressure traffic signal control with partial routing control.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Hybrid centralized/distributed autonomous intersection control: Using a job scheduler as a planner and inheriting its efficiency guarantees.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Robust and resilient estimation for Cyber-Physical Systems under adversarial attacks.
Proceedings of the 2016 American Control Conference, 2016

Vehicle routing for shared-mobility systems with time-varying demand.
Proceedings of the 2016 American Control Conference, 2016

2015
Multi-vehicle Routing.
Proceedings of the Encyclopedia of Systems and Control, 2015

Multivehicle Cooperative Driving Using Cooperative Perception: Design and Experimental Validation.
IEEE Trans. Intell. Transp. Syst., 2015

Analysis of Price of Anarchy in Traffic Networks With Heterogeneous Price-Sensitivity Populations.
IEEE Trans. Control. Syst. Technol., 2015

Capacity-Aware Backpressure Traffic Signal Control.
IEEE Trans. Control. Netw. Syst., 2015

A Situationally Aware Voice-commandable Robotic Forklift Working Alongside People in Unstructured Outdoor Environments.
J. Field Robotics, 2015

The Impact of Cooperative Perception on Decision Making and Planning of Autonomous Vehicles.
IEEE Intell. Transp. Syst. Mag., 2015

Planning for Optimal Feedback Control in the Volume of Free Space.
CoRR, 2015

Autonomous mobility on demand in SimMobility: Case study of the central business district in Singapore.
Proceedings of the 7th International Conference on Cybernetics and Intelligent Systems, 2015

Throughput optimality of extended back-pressure traffic signal control algorithm.
Proceedings of the 23rd Mediterranean Conference on Control and Automation, 2015

Iterative Tuning Strategy for Setting Two-Way Offset by Using Histogram of Traffic Flows in Traffic Signal Control.
Proceedings of the IEEE 18th International Conference on Intelligent Transportation Systems, 2015

Towards autonomous navigation of unsignalized intersections under uncertainty of human driver intent.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Autonomous golf cars for public trial of mobility-on-demand service.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Optimal sampling-based Feedback Motion Trees among obstacles for controllable linear systems with linear constraints.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

A Power-Performance Approach to Comparing Sensor Families, with application to comparing neuromorphic to traditional vision sensors.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Efficient high speed signal estimation with neuromorphic vision sensors.
Proceedings of the International Conference on Event-based Control, 2015

Resilient state estimation against switching attacks on stochastic cyber-physical systems.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Simultaneous input and state estimation with a delay.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Simultaneous input and state estimation of linear discrete-time stochastic systems with input aggregate information.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Further study on extended back-pressure traffic signal control algorithm.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Low-latency heading feedback control with neuromorphic vision sensors using efficient approximated incremental inference.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Convergence speed analysis for evolutionary congestion games.
Proceedings of the 10th Asian Control Conference, 2015

Models, algorithms, and evaluation for autonomous mobility-on-demand systems.
Proceedings of the American Control Conference, 2015

Simultaneous input and state estimation for linear time-invariant continuous-time stochastic systems with unknown inputs.
Proceedings of the American Control Conference, 2015

Computational methods for MIMO flat linear systems: Flat output characterization, test and tracking control.
Proceedings of the American Control Conference, 2015

Asymptotically reachable states and related symmetry in systems theory.
Proceedings of the American Control Conference, 2015

2014
Improving Positioning Accuracy Using GPS Pseudorange Measurements for Cooperative Vehicular Localization.
IEEE Trans. Veh. Technol., 2014

Special Issue on the Tenth International Workshop on Algorithmic Foundations of Robotics (WAFR).
Int. J. Robotics Res., 2014

Throughput Optimal Distributed Traffic Signal Control.
CoRR, 2014

Back-pressure traffic signal control with unknown routing rates.
CoRR, 2014

On minimum-time paths of bounded curvature with position-dependent constraints.
Autom., 2014

Asymptotically Optimal Feedback Planning: FMM Meets Adaptive Mesh Refinement.
Proceedings of the Algorithmic Foundations of Robotics XI, 2014

RRT<sup>X</sup>: Real-Time Motion Planning/Replanning for Environments with Unpredictable Obstacles.
Proceedings of the Algorithmic Foundations of Robotics XI, 2014

Iterative Tuning strategy for setting phase splits in traffic signal control.
Proceedings of the 17th International IEEE Conference on Intelligent Transportation Systems, 2014

A Spatial-Temporal Approach for Moving Object Recognition with 2D LIDAR.
Proceedings of the Experimental Robotics, 2014

Game theoretic controller synthesis for multi-robot motion planning Part I: Trajectory based algorithms.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Sampling-based algorithms for optimal motion planning using process algebra specifications.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Learning pedestrian activities for semantic mapping.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Any-com collision checking: Sharing certificates in decentralized multi-robot teams.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Discrete-time mean field games in multi-agent systems.
Proceedings of the 13th International Conference on Control Automation Robotics & Vision, 2014

Teleoperation of On-Road Vehicles via Immersive Telepresence Using Off-the-shelf Components.
Proceedings of the Intelligent Autonomous Systems 13, 2014

Simultaneous input and state smoothing for linear discrete-time stochastic systems with unknown inputs.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Generalized innovation and inference algorithms for hidden mode switched linear stochastic systems with unknown inputs.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Asymptotic adaptive tracking with input amplitude and rate constraints and bounded disturbances.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Pressure releasing policy in traffic signal control with finite queue capacities.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Analysis of price of anarchy in heterogeneous price-sensitive populations.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

A martingale approach and time-consistent sampling-based algorithms for risk management in stochastic optimal control.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Computing Earth mover's distances on a road map with applications to one-way vehicle sharing.
Proceedings of the American Control Conference, 2014

Cow-Path Games in dynamic environments: Strategic search algorithms for a changing world.
Proceedings of the American Control Conference, 2014

The effect of reversals for a stochastic source-seeking process inspired by bacterial chemotaxis.
Proceedings of the American Control Conference, 2014

Incremental minimum-violation control synthesis for robots interacting with external agents.
Proceedings of the American Control Conference, 2014

2013
Asymptotically Optimal Algorithms for One-to-One Pickup and Delivery Problems With Applications to Transportation Systems.
IEEE Trans. Autom. Control., 2013

Robust Distributed Routing in Dynamical Networks-Part II: Strong Resilience, Equilibrium Selection and Cascaded Failures.
IEEE Trans. Autom. Control., 2013

Robust Distributed Routing in Dynamical Networks - Part I: Locally Responsive Policies and Weak Resilience.
IEEE Trans. Autom. Control., 2013

Stability Analysis of Transportation Networks with Multiscale Driver Decisions.
SIAM J. Control. Optim., 2013

Fast Collision Checking: From Single Robots to Multi-Robot Teams
CoRR, 2013

A Unified Framework for Simultaneous Input and State Estimation of Linear Discrete-time Stochastic Systems.
CoRR, 2013

An O(M log M) Algorithm for Bipartite Matching with Roadmap Distances.
CoRR, 2013

Capacity-aware back-pressure traffic signal control.
CoRR, 2013

Free-configuration Biased Sampling for Motion Planning: Errata.
CoRR, 2013

A review of urban computing for mobile phone traces: current methods, challenges and opportunities.
Proceedings of the 2nd ACM SIGKDD International Workshop on Urban Computing, 2013

Road detection and mapping using 3D rolling window.
Proceedings of the 2013 IEEE Intelligent Vehicles Symposium (IV), 2013

A general framework for road marking detection and analysis.
Proceedings of the 16th International IEEE Conference on Intelligent Transportation Systems, 2013

Navigation with foraging.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Anytime computation algorithms for stochastically parametric approach-evasion differential games.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Mapping with synthetic 2D LIDAR in 3D urban environment.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Free-configuration biased sampling for motion planning.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Incremental synthesis of control policies for heterogeneous multi-agent systems with linear temporal logic specifications.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Sampling-based optimal motion planning for non-holonomic dynamical systems.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Synthetic 2D LIDAR for precise vehicle localization in 3D urban environment.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Distributed consensus in noncooperative congestion games: An application to road pricing.
Proceedings of the 10th IEEE International Conference on Control and Automation, 2013

Least-violating control strategy synthesis with safety rules.
Proceedings of the 16th international conference on Hybrid systems: computation and control, 2013

Simultaneous input and state estimation for linear discrete-time stochastic systems with direct feedthrough.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

On resilience of distributed routing in networks under cascade dynamics.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Incremental sampling-based algorithm for minimum-violation motion planning.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Real-time game theoretic coordination of competitive mobility-on-demand systems.
Proceedings of the American Control Conference, 2013

Hidden mode tracking control for a class of hybrid systems.
Proceedings of the American Control Conference, 2013

Average strategy fictitious play with application to road pricing.
Proceedings of the American Control Conference, 2013

Minimum-violation LTL planning with conflicting specifications.
Proceedings of the American Control Conference, 2013

Rebalancing the rebalancers: optimally routing vehicles and drivers in mobility-on-demand systems.
Proceedings of the American Control Conference, 2013

Optimal motion planning with the half-car dynamical model for autonomous high-speed driving.
Proceedings of the American Control Conference, 2013

Sampling-based algorithms for continuous-time POMDPs.
Proceedings of the American Control Conference, 2013

2012
A Process Algebra Genetic Algorithm.
IEEE Trans. Evol. Comput., 2012

On the Dubins Traveling Salesman Problem.
IEEE Trans. Autom. Control., 2012

Distributed Event-Triggered Control for Multi-Agent Systems.
IEEE Trans. Autom. Control., 2012

A Dynamical Queue Approach to Intelligent Task Management for Human Operators.
Proc. IEEE, 2012

Robotic load balancing for mobility-on-demand systems.
Int. J. Robotics Res., 2012

Road Pricing for Spreading Peak Travel: Modeling and Design
CoRR, 2012

Asymptotically Optimal Algorithms for Pickup and Delivery Problems with Application to Large-Scale Transportation Systems
CoRR, 2012

Efficient Collision Checking in Sampling-Based Motion Planning.
Proceedings of the Algorithmic Foundations of Robotics X, 2012

Intention-Aware Motion Planning.
Proceedings of the Algorithmic Foundations of Robotics X, 2012

A GPS Pseudorange Based Cooperative Vehicular Distance Measurement Technique.
Proceedings of the 75th IEEE Vehicular Technology Conference, 2012

Multiple vehicle driving control for traffic flow efficiency.
Proceedings of the 2012 IEEE Intelligent Vehicles Symposium, 2012

Distributed traffic signal control for maximum network throughput.
Proceedings of the 15th International IEEE Conference on Intelligent Transportation Systems, 2012

Dynamic traffic congestion pricing mechanism with User-Centric considerations.
Proceedings of the 15th International IEEE Conference on Intelligent Transportation Systems, 2012

Intention-Aware Pedestrian Avoidance.
Proceedings of the Experimental Robotics, 2012

Incremental temporal logic synthesis of control policies for robots interacting with dynamic agents.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Autonomy for mobility on demand.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Curb-intersection feature based Monte Carlo Localization on urban roads.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

High-speed flight in an ergodic forest.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

On competitive search games for multiple vehicles.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

On distributed equilibrium seeking for generalized convex games.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Control of probabilistic systems under dynamic, partially known environments with temporal logic specifications.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Models and efficient algorithms for pickup and delivery problems on roadmaps.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

The Cow-Path Game: A competitive vehicle routing problem.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

High-speed motion with limited sensing range in a poisson forest.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Probabilistically-sound and asymptotically-optimal algorithm for stochastic control with trajectory constraints.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Robust distributed routing in dynamical networks with cascading failures.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Sampling-based algorithm for filtering using Markov chain approximations.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Cost bounds for Pickup and Delivery Problems with application to large-scale transportation systems.
Proceedings of the American Control Conference, 2012

Sampling-based algorithms for optimal motion planning with deterministic μ-calculus specifications.
Proceedings of the American Control Conference, 2012

Strategic dynamic vehicle routing with spatio-temporal dependent demands.
Proceedings of the American Control Conference, 2012

Optimal foraging of renewable resources.
Proceedings of the American Control Conference, 2012

2011
Adaptive and Distributed Algorithms for Vehicle Routing in a Stochastic and Dynamic Environment.
IEEE Trans. Autom. Control., 2011

Distributed Algorithms for Environment Partitioning in Mobile Robotic Networks.
IEEE Trans. Autom. Control., 2011

Dynamic Vehicle Routing for Robotic Systems.
Proc. IEEE, 2011

Sampling-based algorithms for optimal motion planning.
Int. J. Robotics Res., 2011

Robust Distributed Routing in Dynamical Flow Networks - Part II: Strong Resilience, Equilibrium Selection and Cascaded Failures
CoRR, 2011

Load Balancing for Mobility-on-Demand Systems.
Proceedings of the Robotics: Science and Systems VII, 2011

Synthesis of provably correct controllers for autonomous vehicles in urban environments.
Proceedings of the 14th International IEEE Conference on Intelligent Transportation Systems, 2011

Differential flatness of a front-steered vehicle with tire force control.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Asymptotically-optimal path planning for manipulation using incremental sampling-based algorithms.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Massively parallelizing the RRT and the RRT.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Anytime Motion Planning using the RRT.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

On the Statistics and Predictability of Go-Arounds.
Proceedings of the 2011 Conference on Intelligent Data Understanding, 2011

An asymptotically optimal algorithm for pickup and delivery problems.
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Anytime computation of time-optimal off-road vehicle maneuvers using the RRT.
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Robust distributed routing in dynamical flow networks.
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

2010
Maximally Stabilizing Task Release Control Policy for a Dynamical Queue.
IEEE Trans. Autom. Control., 2010

Dynamic Vehicle Routing with Priority Classes of Stochastic Demands.
SIAM J. Control. Optim., 2010

Switching control laws in the presence of measurement noise.
Syst. Control. Lett., 2010

Incremental Sampling-Based Algorithms for a Class of Pursuit-Evasion Games.
Proceedings of the Algorithmic Foundations of Robotics IX, 2010

Incremental Sampling-based Algorithms for Optimal Motion Planning.
Proceedings of the Robotics: Science and Systems VI, 2010

Closed-loop pallet manipulation in unstructured environments.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

A voice-commandable robotic forklift working alongside humans in minimally-prepared outdoor environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Dynamic vehicle routing with stochastic time constraints.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Towards dynamic team formation for robot ensembles.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Fundamental performance limits and efficient polices for Transportation-On-Demand systems.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

Optimal kinodynamic motion planning using incremental sampling-based methods.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

Persistent patrol with limited-range on-board sensors.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

Cooperative mission planning for a class of carrier-vehicle systems.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

Distributed self-triggered control for multi-agent systems.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

Analysis of decentralized potential field based multi-agent navigation via primal-dual Lyapunov theory.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

2009
Real-Time Motion Planning With Applications to Autonomous Urban Driving.
IEEE Trans. Control. Syst. Technol., 2009

Traveling Salesperson Problems for a Double Integrator.
IEEE Trans. Autom. Control., 2009

Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications.
IEEE Trans. Autom. Control., 2009

Sharing the load.
IEEE Robotics Autom. Mag., 2009

A Stochastic and Dynamic Vehicle Routing Problem with Time Windows and Customer Impatience.
Mob. Networks Appl., 2009

Equitable Partitioning Policies for Mobile Robotic Networks
CoRR, 2009

Distributed and Adaptive Algorithms for Vehicle Routing in a Stochastic and Dynamic Environment
CoRR, 2009

Equitable partitioning policies for robotic networks.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Simultaneous Optimal Control and Discrete Stochastic Sensor Selection.
Proceedings of the Hybrid Systems: Computation and Control, 12th International Conference, 2009

Discontinuous control systems in the presence of measurement noise.
Proceedings of the 10th European Control Conference, 2009

On steady-state cornering equilibria for wheeled vehicles with drift.
Proceedings of the 48th IEEE Conference on Decision and Control, 2009

Sampling-based motion planning with deterministic µ-calculus specifications.
Proceedings of the 48th IEEE Conference on Decision and Control, 2009

Distributed control of spacecraft formation via cyclic pursuit: Theory and experiments.
Proceedings of the American Control Conference, 2009

Dynamic multi-vehicle routing with multiple classes of demands.
Proceedings of the American Control Conference, 2009

Specification and planning of UAV missions: a Process Algebra approach.
Proceedings of the American Control Conference, 2009

2008
Improving the Performance of Sampling-Based Motion Planning With Symmetry-Based Gap Reduction.
IEEE Trans. Robotics, 2008

Traveling Salesperson Problems for the Dubins Vehicle.
IEEE Trans. Autom. Control., 2008

A perception-driven autonomous urban vehicle.
J. Field Robotics, 2008

Discussion on: "Optimality Properties and Driver Input Parameterization for Trail-braking Cornering".
Eur. J. Control, 2008

On Endogenous Reconfiguration in Mobile Robotic Networks.
Proceedings of the Algorithmic Foundation of Robotics VIII, 2008

Motion planning for urban driving using RRT.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

On the Optimality of Dubins Paths across Heterogeneous Terrain.
Proceedings of the Hybrid Systems: Computation and Control, 11th International Workshop, 2008

Distributed Lyapunov Functions in Analysis of Graph Models of Software.
Proceedings of the Hybrid Systems: Computation and Control, 11th International Workshop, 2008

Sampling-Based Resolution-Complete Algorithms for Safety Falsification of Linear Systems.
Proceedings of the Hybrid Systems: Computation and Control, 11th International Workshop, 2008

Dynamic vehicle routing with heterogeneous demands.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Human-in-the-loop vehicle routing policies for dynamic environments.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Lyapunov analysis of quadratically symmetric neighborhood consensus algorithms.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Distributed policies for equitable partitioning: Theory and applications.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Continuous path planning for a data harvesting mobile server.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Optimal control of Mixed Logical Dynamical systems with Linear Temporal Logic specifications.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Vehicle Routing Problem with Metric Temporal Logic Specifications.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Dynamic Traveling Repairperson Problem for dynamic systems.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Cooperative path planning for a class of carrier-vehicle systems.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Coverage control for nonholonomic agents.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

A hybrid control framework for robust maneuver-based motion planning.
Proceedings of the American Control Conference, 2008

Complex mission optimization for Multiple-UAVs using Linear Temporal Logic.
Proceedings of the American Control Conference, 2008

Decentralized algorithm for minimum-time rendezvous of Dubins vehicles.
Proceedings of the American Control Conference, 2008

2007
Decentralized Cooperative Policy for Conflict Resolution in Multivehicle Systems.
IEEE Trans. Robotics, 2007

On Synchronous Robotic Networks - Part II: Time Complexity of Rendezvous and Deployment Algorithms.
IEEE Trans. Autom. Control., 2007

On Synchronous Robotic Networks - Part I: Models, Tasks, and Complexity.
IEEE Trans. Autom. Control., 2007

Symbolic planning and control of robot motion [Grand Challenges of Robotics].
IEEE Robotics Autom. Mag., 2007

Transfer Time Complexity of Conflict-free Vehicle Routing with no Communications.
Int. J. Robotics Res., 2007

Decentralized vehicle routing in a stochastic and dynamic environment with customer impatience.
Proceedings of the 1st International Conference on Robot Communication and Coordination, 2007

Groupoids in Control Systems and the Reachability Problem for a Class of Quantized Control Systems with Nonabelian Symmetries.
Proceedings of the Hybrid Systems: Computation and Control, 10th International Workshop, 2007

Application of quantized control to human self-rotation maneuvers in microgravity.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

The coverage problem for loitering Dubins vehicles.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Decentralized algorithms for stochastic and dynamic vehicle routing with general demand distribution.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

The curvature-constrained traveling salesman problem for high point densities.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Efficient sensor coverage for acoustic localization.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Sampling-based resolution-complete safety falsification of linear hybrid systems.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Motion planning for a quantized control system on SO(3).
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Decentralized policies for geometric pattern formation.
Proceedings of the American Control Conference, 2007

Probabilistic verification of decentralized multi-agent control strategies: a Case Study in Conflict Avoidance.
Proceedings of the American Control Conference, 2007

Micro UAV Path Planning for Reconnaissance in Wind.
Proceedings of the American Control Conference, 2007

Efficient routing of multiple vehicles with no communication.
Proceedings of the American Control Conference, 2007

2006
The Golem Group/University of California at Los Angeles autonomous ground vehicle in the DARPA grand challenge.
J. Field Robotics, 2006

Traveing Salesperson Problems for a double integrator
CoRR, 2006

Asymptotic constant-factor approximation algorithm for the Traveling Salesperson Problem for Dubins' vehicle
CoRR, 2006

On the Dubins Traveling Salesperson Problems: Novel Approximation Algorithms.
Proceedings of the Robotics: Science and Systems II, 2006

Probabilistic Verification of a Decentralized Policy for Conflict Resolution in Multi-agent Systems.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Motion Planning for the Roller Racer with a Sticking/Slipping Switching Model.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

The Traveling Salesman Problem for the Reeds-Shepp Car and the Differential Drive Robot.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006

Resolution-complete safety falsification of continuous time systems.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006

2005
Maneuver-based motion planning for nonlinear systems with symmetries.
IEEE Trans. Robotics, 2005

Time Complexity of Sensor-Based Vehicle Routing.
Proceedings of the Robotics: Science and Systems I, 2005

RoboTrikke: A Novel Undulatory Locomotion System.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004
Improving lifetime data gathering and distortion for mobile sensing networks.
Proceedings of the First Annual IEEE Communications Society Conference on Sensor and Ad Hoc Communications and Networks, 2004

Improving the Performance of Sampling-based Planners by using a Symmetry-exploiting Gap Reduction Algorithm.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

Incremental Search Methods for Reachability Analysis of Continuous and Hybrid Systems.
Proceedings of the Hybrid Systems: Computation and Control, 7th International Workshop, 2004

2003
Exploiting group symmetries to improve precision in kinodynamic and nonholonomic planning.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

2002
Quantized Stabilization of Two-Input Linear Systems: A Lower Bound on the Minimal Quantization Density.
Proceedings of the Hybrid Systems: Computation and Control, 5th International Workshop, 2002

2001
Aggressive Maneuvering of Small Autonomous Helicopters: A Human-Centered Approach.
Int. J. Robotics Res., 2001


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