Adaptation-based reconfiguration in the presence of actuator failures and saturation. - Mac Schwager; Anuradha M. Annaswamy; Eugene Lavretsky (ACC, 2005)

Direct Adaptive Control of Multi-Input Plants with Magnitude Saturation Constraints. - Mac Schwager; Anuradha M. Annaswamy (CDC/ECC, 2005)

Distributed Coverage Control with Sensory Feedback for Networked Robots. - Mac Schwager; James McLurkin; Daniela Rus (Robotics: Science and Systems, 2006)

Data-Driven Identification of Group Dynamics for Motion Prediction and Control. - Mac Schwager; Dean M. Anderson; Daniela Rus (FSR, 2007)

Decentralized, Adaptive Control for Coverage with Networked Robots. - Mac Schwager; Jean-Jacques E. Slotine; Daniela Rus (ICRA, 2007)

A ladybug exploration strategy for distributed adaptive coverage control. - Mac Schwager; Francesco Bullo; David Skelly; Daniela Rus (ICRA, 2008)

Consensus learning for distributed coverage control. - Mac Schwager; Jean-Jacques E. Slotine; Daniela Rus (ICRA, 2008)

From Theory to Practice: Distributed Coverage Control Experiments with Groups of Robots. - Mac Schwager; James McLurkin; Jean-Jacques E. Slotine; Daniela Rus (ISER, 2008)

Social Control of Herd Animals by Integration of Artificially Controlled Congeners. - Nikolaus Correll; Mac Schwager; Daniela Rus (SAB, 2008)

Simultaneous Coverage and Tracking (SCAT) of Moving Targets with Robot Networks. - Luciano C. A. Pimenta; Mac Schwager; Quentin Lindsey; Vijay Kumar 001; Daniela Rus; Renato Cardoso Mesquita; Guilherme A. S. Pereira (WAFR, 2008)

Data-driven identification of group dynamics for motion prediction and control. - Mac Schwager; Carrick Detweiler; Iuliu Vasilescu; Dean M. Anderson; Daniela Rus (J. Field Robotics, 2008)

A Location-Based Algorithm for Multi-Hopping State Estimates within a Distributed Robot Team. - Brian J. Julian; Mac Schwager; Michael Angermann; Daniela Rus (FSR, 2009)

Optimal coverage for multiple hovering robots with downward facing cameras. - Mac Schwager; Brian J. Julian; Daniela Rus (ICRA, 2009)

Unifying Geometric, Probabilistic, and Potential Field Approaches to Multi-robot Coverage Control. - Mac Schwager; Jean-Jacques E. Slotine; Daniela Rus (ISRR, 2009)

Coordinating Construction of Truss Structures Using Distributed Equal-Mass Partitioning. - Seung-kook Yun; Mac Schwager; Daniela Rus (ISRR, 2009)

Decentralized, Adaptive Coverage Control for Networked Robots. - Mac Schwager; Daniela Rus; Jean-Jacques E. Slotine (Int. J. Robotics Res., 2009)

Voronoi coverage of non-convex environments with a group of networked robots. - Andreas Breitenmoser; Mac Schwager; Jean-Claude Metzger; Roland Siegwart; Daniela Rus (ICRA, 2010)

Optimizing communication in air-ground robot networks using decentralized control. - Stephanie Gil; Mac Schwager; Brian J. Julian; Daniela Rus (ICRA, 2010)

An Experimental Study of Time Scales and Stability in Networked Multi-Robot Systems. - Nathan Michael; Mac Schwager; Vijay Kumar 001; Daniela Rus (ISER, 2010)

Adaptive decentralized control of underwater sensor networks for modeling underwater phenomena. - Carrick Detweiler; Marek Doniec; Mingshun Jiang; Mac Schwager; Robert F. Chen; Daniela Rus (SenSys, 2010)

Time scales and stability in networked multi-robot systems. - Mac Schwager; Nathan Michael; Vijay Kumar 001; Daniela Rus (ICRA, 2011)

Persistent monitoring of changing environments using a robot with limited range sensing. - Stephen L. Smith 001; Mac Schwager; Daniela Rus (ICRA, 2011)

Persistent ocean monitoring with underwater gliders: Towards accurate reconstruction of dynamic ocean processes. - Ryan N. Smith; Mac Schwager; Stephen L. Smith 001; Daniela Rus; Gaurav S. Sukhatme (ICRA, 2011)

A scalable information theoretic approach to distributed robot coordination. - Brian J. Julian; Michael Angermann; Mac Schwager; Daniela Rus (IROS, 2011)

A Multi-robot Control Policy for Information Gathering in the Presence of Unknown Hazards. - Mac Schwager; Philip M. Dames; Daniela Rus; Vijay Kumar 001 (ISRR, 2011)

Robust Adaptive Coverage for Robotic Sensor Networks. - Mac Schwager; Michael P. Vitus; Daniela Rus; Claire J. Tomlin (ISRR, 2011)

Unifying geometric, probabilistic, and potential field approaches to multi-robot deployment. - Mac Schwager; Daniela Rus; Jean-Jacques E. Slotine (Int. J. Robotics Res., 2011)

Persistent ocean monitoring with underwater gliders: Adapting sampling resolution. - Ryan N. Smith; Mac Schwager; Stephen L. Smith 001; Burton H. Jones; Daniela Rus; Gaurav S. Sukhatme (J. Field Robotics, 2011)

Eyes in the Sky: Decentralized Control for the Deployment of Robotic Camera Networks. - Mac Schwager; Brian J. Julian; Michael Angermann; Daniela Rus (Proc. IEEE, 2011)

A decentralized control policy for adaptive information gathering in hazardous environments. - Philip M. Dames; Mac Schwager; Vijay Kumar 001; Daniela Rus (CDC, 2012)

Generating informative paths for persistent sensing in unknown environments. - Daniel E. Soltero; Mac Schwager; Daniela Rus (IROS, 2012)

Distributed robotic sensor networks: An information-theoretic approach. - Brian J. Julian; Michael Angermann; Mac Schwager; Daniela Rus (Int. J. Robotics Res., 2012)

Editorial. - Nathan Michael; Mac Schwager; Vijay Kumar 001 (Int. J. Robotics Res., 2012)

Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments. - Stephen L. Smith 001; Mac Schwager; Daniela Rus (IEEE Trans. Robotics, 2012)

Rebalancing the rebalancers: optimally routing vehicles and drivers in mobility-on-demand systems. - Stephen L. Smith 001; Marco Pavone 001; Mac Schwager; Emilio Frazzoli; Daniela Rus (ACC, 2013)

Distribution temporal logic: Combining correctness with quality of estimation. - Austin Jones; Mac Schwager; Calin Belta (CDC, 2013)

A receding horizon algorithm for informative path planning with temporal logic constraints. - Austin Jones; Mac Schwager; Calin Belta (ICRA, 2013)

Planning periodic persistent monitoring trajectories for sensing robots in Gaussian Random Fields. - Xiaodong Lan; Mac Schwager (ICRA, 2013)

Adaptive Inter-Robot Trust for Robust Multi-Robot Sensor Coverage. - Alyssa Pierson; Mac Schwager (ISRR, 2013)

Technical Report: Distribution Temporal Logic: Combining Correctness with Quality of Estimation. - Austin Jones; Mac Schwager; Calin Belta (CoRR, 2013)

Technical Report: A Receding Horizon Algorithm for Informative Path Planning with Temporal Logic Constraints - Austin Jones; Mac Schwager; Calin Belta (CoRR, 2013)

A variational approach to trajectory planning for persistent monitoring of spatiotemporal fields. - Xiaodong Lan; Mac Schwager (ACC, 2014)

Distributed formation control without a global reference frame. - Eduardo Montijano; Dingjiang Zhou; Mac Schwager; Carlos Sagüés (ACC, 2014)

Multi-robot Manipulation Without Communication. - Zijian Wang 003; Mac Schwager (DARS, 2014)

Vector field following for quadrotors using differential flatness. - Dingjiang Zhou; Mac Schwager (ICRA, 2014)

Correlated Orienteering Problem and its application to informative path planning for persistent monitoring tasks. - Jingjin Yu; Mac Schwager; Daniela Rus (IROS, 2014)

Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints. - Kevin Leahy 001; Dingjiang Zhou; Cristian Ioan Vasile; Konstantinos Oikonomopoulos; Mac Schwager; Calin Belta (ISER, 2014)

Decentralized path planning for coverage tasks using gradient descent adaptive control. - Daniel E. Soltero; Mac Schwager; Daniela Rus (Int. J. Robotics Res., 2014)

Playing Fetch with Your Robot: The Ability of Robots to Locate and Interact with Objects. - Philip M. Dames; Dinesh Thakur; Mac Schwager; Vijay Kumar 001 (IEEE Robotics Autom. Mag., 2014)

Information-guided persistent monitoring under temporal logic constraints. - Austin Jones; Mac Schwager; Calin Belta (ACC, 2015)

Pipelined Consensus for Global State Estimation in Multi-Agent Systems. - Golnaz Habibi; Zachary Kingston; Zijian Wang 003; Mac Schwager; James McLurkin (AAMAS, 2015)

Distributed information gathering policies under temporal logic constraints. - Kevin Leahy 001; Austin Jones; Mac Schwager; Calin Belta (CDC, 2015)

Multi-robot manipulation with no communication using only local measurements. - Zijian Wang 003; Mac Schwager (CDC, 2015)

SE(N) invariance in networked systems. - Cristian Ioan Vasile; Mac Schwager; Calin Belta (ECC, 2015)

Enforcing temporal logic specifications via reinforcement learning. - Austin Jones; Derya Aksaray; Zhaodan Kong; Mac Schwager; Calin Belta (HSCC, 2015)

Adapting to performance variations in multi-robot coverage. - Alyssa Pierson; Lucas Coelho Figueiredo; Luciano C. A. Pimenta; Mac Schwager (ICRA, 2015)

Bio-inspired non-cooperative multi-robot herding. - Alyssa Pierson; Mac Schwager (ICRA, 2015)

Virtual Rigid Bodies for coordinated agile maneuvering of teams of micro aerial vehicles. - Dingjiang Zhou; Mac Schwager (ICRA, 2015)

Robust Satisfaction of Temporal Logic Specifications via Reinforcement Learning. - Austin Jones; Derya Aksaray; Zhaodan Kong; Mac Schwager; Calin Belta (CoRR, 2015)

A multi-resolution approach for discovery and 3-D modeling of archaeological sites using satellite imagery and a UAV-borne camera. - Huanyu Ding; Eric Cristofalo; Joseph Wang 001; David A. Castañón; Eduardo Montijano; Venkatesh Saligrama; Mac Schwager (ACC, 2016)

Q-Learning for robust satisfaction of signal temporal logic specifications. - Derya Aksaray; Austin Jones; Zhaodan Kong; Mac Schwager; Calin Belta (CDC, 2016)

Control in belief space with Temporal Logic specifications. - Cristian Ioan Vasile; Kevin Leahy 001; Eric Cristofalo; Austin Jones; Mac Schwager; Calin Belta (CDC, 2016)

OuijaBots: Omnidirectional Robots for Cooperative Object Transport with Rotation Control Using No Communication. - Zijian Wang 003; Guang Yang 018; Xuanshuo Su; Mac Schwager (DARS, 2016)

Always choose second best: Tracking a moving target on a graph with a noisy binary sensor. - Kevin Leahy 001; Mac Schwager (ECC, 2016)

Distributed multi-robot formation control among obstacles: A geometric and optimization approach with consensus. - Javier Alonso-Mora; Eduardo Montijano; Mac Schwager; Daniela Rus (ICRA, 2016)

Distributed formation control of non-holonomic robots without a global reference frame. - Eduardo Montijano; Eric Cristofalo; Mac Schwager; Carlos Sagüés (ICRA, 2016)

Cooperative multi-quadrotor pursuit of an evader in an environment with no-fly zones. - Alyssa Pierson; Armin Ataei; Ioannis Ch. Paschalidis; Mac Schwager (ICRA, 2016)

Kinematic multi-robot manipulation with no communication using force feedback. - Zijian Wang 003; Mac Schwager (ICRA, 2016)

Assistive collision avoidance for quadrotor swarm teleoperation. - Dingjiang Zhou; Mac Schwager (ICRA, 2016)

Localization of a Ground Robot by Aerial Robots for GPS-Deprived Control with Temporal Logic Constraints. - Eric Cristofalo; Kevin Leahy 001; Cristian Ioan Vasile; Eduardo Montijano; Mac Schwager; Calin Belta (ISER, 2016)

Persistent surveillance for unmanned aerial vehicles subject to charging and temporal logic constraints. - Kevin Leahy 001; Dingjiang Zhou; Cristian Ioan Vasile; Konstantinos Oikonomopoulos; Mac Schwager; Calin Belta (Auton. Robots, 2016)

Brain-Swarm Interface (BSI): Controlling a Swarm of Robots with Brain and Eye Signals from an EEG Headset. - Aamodh Suresh; Mac Schwager (CoRR, 2016)

Force-Amplifying N-robot Transport System (Force-ANTS) for cooperative planar manipulation without communication. - Zijian Wang 003; Mac Schwager (Int. J. Robotics Res., 2016)

Flying Smartphones: When Portable Computing Sprouts Wings. - Ross E. Allen; Marco Pavone 001; Mac Schwager (IEEE Pervasive Comput., 2016)

Active Magnetic Anomaly Detection Using Multiple Micro Aerial Vehicles. - Philip M. Dames; Mac Schwager; Daniela Rus; Vijay Kumar 001 (IEEE Robotics Autom. Lett., 2016)

Rapidly Exploring Random Cycles: Persistent Estimation of Spatiotemporal Fields With Multiple Sensing Robots. - Xiaodong Lan; Mac Schwager (IEEE Trans. Robotics, 2016)

Vision-Based Distributed Formation Control Without an External Positioning System. - Eduardo Montijano; Eric Cristofalo; Dingjiang Zhou; Mac Schwager; Carlos Sagüés (IEEE Trans. Robotics, 2016)

Correlated Orienteering Problem and its Application to Persistent Monitoring Tasks. - Jingjin Yu; Mac Schwager; Daniela Rus (IEEE Trans. Robotics, 2016)

Learning a dynamical system model for a spatiotemporal field using a mobile sensing robot. - Xiaodong Lan; Mac Schwager (ACC, 2017)

A distributed algorithm for mapping the graphical structure of complex environments with a swarm of robots. - Adam Caccavale; Mac Schwager (ICRA, 2017)

Linear actuator robots: Differential kinematics, controllability, and algorithms for locomotion and shape morphing. - Nathan S. Usevitch; Zachary M. Hammond; Sean Follmer; Mac Schwager (IROS, 2017)

Distributed multi-robot localization from acoustic pulses using Euclidean distance geometry. - Trevor Halsted; Mac Schwager (MRS, 2017)

Adapting to sensing and actuation variations in multi-robot coverage. - Alyssa Pierson; Lucas Coelho Figueiredo; Luciano C. A. Pimenta; Mac Schwager (Int. J. Robotics Res., 2017)

Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders With Multiple Pursuers. - Alyssa Pierson; Zijian Wang 003; Mac Schwager (IEEE Robotics Autom. Lett., 2017)

Fast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells. - Dingjiang Zhou; Zijian Wang 003; Saptarshi Bandyopadhyay; Mac Schwager (IEEE Robotics Autom. Lett., 2017)

Robust Adaptive Coverage Control for Robotic Sensor Networks. - Mac Schwager; Michael P. Vitus; Samantha Powers; Daniela Rus; Claire J. Tomlin (IEEE Trans. Control. Netw. Syst., 2017)

Controlling Large, Graph-based MDPs with Global Control Capacity Constraints: An Approximate LP Solution. - Ravi N. Haksar; Mac Schwager (CDC, 2018)

Multi-agent Cooperative Pursuit-Evasion Strategies Under Uncertainty. - Kunal Shah; Mac Schwager (DARS, 2018)

Game Theoretic Motion Planning for Multi-robot Racing. - Zijian Wang 003; Riccardo Spica; Mac Schwager (DARS, 2018)

Decentralized Adaptive Control for Collaborative Manipulation. - Preston Culbertson; Mac Schwager (ICRA, 2018)

Active Motion-Based Communication for Robots with Monocular Vision. - Haruki Nishimura; Mac Schwager (ICRA, 2018)

Cooperative Object Transport in 3D with Multiple Quadrotors Using No Peer Communication. - Zijian Wang 003; Sumeet Singh; Marco Pavone 001; Mac Schwager (ICRA, 2018)

Safe Distributed Lane Change Maneuvers for Multiple Autonomous Vehicles Using Buffered Input Cells. - Mingyu Wang 002; Zijian Wang 003; Shreyasha Paudel; Mac Schwager (ICRA, 2018)

Wireframe Mapping for Resource-Constrained Robots*This research was supported in part by NSF grant CMMI-1562335 and ONR grant N00014-12-1-1000. We are grateful for this support. - Adam Caccavale; Mac Schwager (IROS, 2018)

Distributed Deep Reinforcement Learning for Fighting Forest Fires with a Network of Aerial Robots. - Ravi N. Haksar; Mac Schwager (IROS, 2018)

A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing. - Riccardo Spica; Davide Falanga; Eric Cristofalo; Eduardo Montijano; Davide Scaramuzza 001; Mac Schwager (Robotics: Science and Systems, 2018)

Translational and Rotational Invariance in Networked Dynamical Systems. - Cristian Ioan Vasile; Mac Schwager; Calin Belta (IEEE Trans. Control. Netw. Syst., 2018)

Controlling Noncooperative Herds with Robotic Herders. - Alyssa Pierson; Mac Schwager (IEEE Trans. Robotics, 2018)

Agile Coordination and Assistive Collision Avoidance for Quadrotor Swarms Using Virtual Structures. - Dingjiang Zhou; Zijian Wang 003; Mac Schwager (IEEE Trans. Robotics, 2018)

Consensus-based Distributed 3D Pose Estimation with Noisy Relative Measurements. - Eric Cristofalo; Eduardo Montijano; Mac Schwager (CDC, 2019)

Scalable Filtering of Large Graph-Coupled Hidden Markov Models. - Ravi N. Haksar; Joseph Lorenzetti; Mac Schwager (CDC, 2019)

Controlling Heterogeneous Stochastic Growth Processes on Lattices with Limited Resources. - Ravi N. Haksar; Friedrich Solowjow; Sebastian Trimpe; Mac Schwager (CDC, 2019)

Trust But Verify: A Distributed Algorithm for Multi-Robot Wireframe Exploration and Mapping. - Adam Caccavale; Mac Schwager (IROS, 2019)

Multi-Robot Assembly Sequencing via Discrete Optimization. - Preston Culbertson; Saptarshi Bandyopadhyay; Mac Schwager (IROS, 2019)

Fast Reciprocal Collision Avoidance Under Measurement Uncertainty. - Guillermo Angeris; Kunal Shah; Mac Schwager (ISRR, 2019)

Consensus-Based ADMM for Task Assignment in Multi-robot Teams. - Ravi N. Haksar; Olaoluwa Shorinwa; Patrick H. Washington; Mac Schwager (ISRR, 2019)

Cooperative Control of an Autonomous Floating Modular Structure Without Communication: Extended Abstract. - Wei Wang 078; Luis A. Mateos; Zijian Wang 003; Kuan Wei Huang; Mac Schwager; Carlo Ratti; Daniela Rus (MRS, 2019)

Distributed Collision Avoidance of Multiple Robots with Probabilistic Buffered Voronoi Cells. - Mingyu Wang 002; Mac Schwager (MRS, 2019)

AirSim Drone Racing Lab. - Ratnesh Madaan; Nicholas Gyde; Sai Vemprala; Matthew Brown; Keiko Nagami; Tim Taubner; Eric Cristofalo; Davide Scaramuzza 001; Mac Schwager; Ashish Kapoor (NeurIPS (Competition and Demos), 2019)

Game Theoretic Planning for Self-Driving Cars in Competitive Scenarios. - Mingyu Wang 002; Zijian Wang 003; John Talbot; J. Christian Gerdes; Mac Schwager (Robotics: Science and Systems, 2019)

Distributed multi-robot formation control in dynamic environments. - Javier Alonso-Mora; Eduardo Montijano; Tobias Nägeli; Otmar Hilliges; Mac Schwager; Daniela Rus (Auton. Robots, 2019)

Control in belief space with temporal logic specifications using vision-based localization. - Kevin Leahy 001; Eric Cristofalo; Cristian Ioan Vasile; Austin Jones; Eduardo Montijano; Mac Schwager; Calin Belta (Int. J. Robotics Res., 2019)

GRAPE: Geometric Risk-Aware Pursuit-Evasion. - Kunal Shah; Mac Schwager (Robotics Auton. Syst., 2019)

Tracking a Markov Target in a Discrete Environment With Multiple Sensors. - Kevin Leahy 001; Mac Schwager (IEEE Trans. Autom. Control., 2019)

Scalable Distributed Optimization with Separable Variables in Multi-Agent Networks. - Olaoluwa Shorinwa; Trevor Halsted; Mac Schwager (ACC, 2020)

Learning Mixed-Integer Convex Optimization Strategies for Robot Planning and Control. - Abhishek Cauligi; Preston Culbertson; Bartolomeo Stellato; Dimitris Bertsimas; Mac Schwager; Marco Pavone 001 (CDC, 2020)

Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning. - Kyle Brown; Oriana Peltzer; Martin A. Sehr; Mac Schwager; Mykel J. Kochenderfer (ICRA, 2020)

Enhancing Game-Theoretic Autonomous Car Racing Using Control Barrier Functions. - Gennaro Notomista; Mingyu Wang 002; Mac Schwager; Magnus Egerstedt (ICRA, 2020)

Distributed Multi-Target Tracking for Autonomous Vehicle Fleets. - Ola Shorinwa; Javier Yu; Trevor Halsted; Alex Koufos; Mac Schwager (ICRA, 2020)

Distributed Motion Control for Multiple Connected Surface Vessels. - Wei Wang 078; Zijian Wang 003; Luis A. Mateos; Kuan Wei Huang; Mac Schwager; Carlo Ratti; Daniela Rus (IROS, 2020)

Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction. - Haruki Nishimura; Boris Ivanovic; Adrien Gaidon; Marco Pavone 001; Mac Schwager (IROS, 2020)

CinemAirSim: A Camera-Realistic Robotics Simulator for Cinematographic Purposes. - Pablo Pueyo; Eric Cristofalo; Eduardo Montijano; Mac Schwager (IROS, 2020)

Scalable Collaborative Manipulation with Distributed Trajectory Planning. - Ola Shorinwa; Mac Schwager (IROS, 2020)

Game-Theoretic Planning for Risk-Aware Interactive Agents. - Mingyu Wang 002; Negar Mehr; Adrien Gaidon; Mac Schwager (IROS, 2020)

MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception. - Benjamin Ramtoula; Adam Caccavale; Giovanni Beltrame; Mac Schwager (ISER, 2020)

Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments. - Ransalu Senanayake; Maneekwan Toyungyernsub; Mingyu Wang 002; Mykel J. Kochenderfer; Mac Schwager (ITSC, 2020)

ALGAMES: A Fast Solver for Constrained Dynamic Games. - Simon Le Cleac'h; Mac Schwager; Zachary Manchester (Robotics: Science and Systems, 2020)

STT-CBS: A Conflict-Based Search Algorithm for Multi-Agent Path Finding with Stochastic Travel Times. - Oriana Peltzer; Kyle Brown; Mac Schwager; Mykel J. Kochenderfer; Martin A. Sehr (CoRR, 2020)

GeoD: Consensus-based Geodesic Distributed Pose Graph Optimization. - Eric Cristofalo; Eduardo Montijano; Mac Schwager (CoRR, 2020)

Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage. - Ravi N. Haksar; Sebastian Trimpe; Mac Schwager (IEEE Robotics Autom. Lett., 2020)

Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization. - Brian E. Jackson; Taylor A. Howell; Kunal Shah; Mac Schwager; Zachary Manchester (IEEE Robotics Autom. Lett., 2020)

Robots and autonomous systems, SI DARS 2018. - Nikolaus Correll; Mac Schwager (Robotics Auton. Syst., 2020)

Multi-agent sensitivity enhanced iterative best response: A real-time game theoretic planner for drone racing in 3D environments. - Zijian Wang 003; Tim Taubner; Mac Schwager (Robotics Auton. Syst., 2020)

Multidrone aerial surveys of penguin colonies in Antarctica. - Kunal Shah; Grant Ballard; Annie Schmidt; Mac Schwager (Sci. Robotics, 2020)

An untethered isoperimetric soft robot. - Nathan S. Usevitch; Zachary M. Hammond; Mac Schwager; Allison M. Okamura; Elliot W. Hawkes; Sean Follmer (Sci. Robotics, 2020)

Vision-Based Control for Fast 3-D Reconstruction With an Aerial Robot. - Eric Cristofalo; Eduardo Montijano; Mac Schwager (IEEE Trans. Control. Syst. Technol., 2020)

A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing. - Riccardo Spica; Eric Cristofalo; Zijian Wang 003; Eduardo Montijano; Mac Schwager (IEEE Trans. Robotics, 2020)

Locomotion of Linear Actuator Robots Through Kinematic Planning and Nonlinear Optimization. - Nathan S. Usevitch; Zachary M. Hammond; Mac Schwager (IEEE Trans. Robotics, 2020)

Reachable Polyhedral Marching (RPM): A Safety Verification Algorithm for Robotic Systems with Deep Neural Network Components. - Joseph A. Vincent; Mac Schwager (ICRA, 2021)

TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation. - Claire Chen; Preston Culbertson; Marion Lepert; Mac Schwager; Jeannette Bohg (IROS, 2021)

Reduced State Value Iteration for Multi-Drone Persistent Surveillance with Charging Constraints. - Patrick H. Washington; Mac Schwager (IROS, 2021)

Distributed Contact-Implicit Trajectory Optimization for Collaborative Manipulation. - Ola Shorinwa; Mac Schwager (MRS, 2021)

HJB-RL: Initializing Reinforcement Learning with Optimal Control Policies Applied to Autonomous Drone Racing. - Keiko Nagami; Mac Schwager (Robotics: Science and Systems, 2021)

A Survey of Distributed Optimization Methods for Multi-Robot Systems. - Trevor Halsted; Ola Shorinwa; Javier Yu; Mac Schwager (CoRR, 2021)

Linear Contact-Implicit Model-Predictive Control. - Simon Le Cleac'h; Taylor A. Howell; Mac Schwager; Zachary Manchester (CoRR, 2021)

Reciprocal Multi-Robot Collision Avoidance with Asymmetric State Uncertainty. - Kunal Shah; Guillermo Angeris; Mac Schwager (CoRR, 2021)

Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers. - Nathan S. Usevitch; Trevor Halsted; Zachary M. Hammond; Allison M. Okamura; Mac Schwager (CoRR, 2021)

Decentralized Role Assignment in Multi-Agent Teams via Empirical Game-Theoretic Analysis. - Fengjun Yang; Negar Mehr; Mac Schwager (CoRR, 2021)

Maximum-Entropy Multi-Agent Dynamic Games: Forward and Inverse Solutions. - Negar Mehr; Mingyu Wang 002; Mac Schwager (CoRR, 2021)

SACBP: Belief space planning for continuous-time dynamical systems via stochastic sequential action control. - Haruki Nishimura; Mac Schwager (Int. J. Robotics Res., 2021)

LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning. - Simon Le Cleac'h; Mac Schwager; Zachary Manchester (IEEE Robotics Autom. Lett., 2021)

RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch. - Haruki Nishimura; Negar Mehr; Adrien Gaidon; Mac Schwager (IEEE Robotics Autom. Lett., 2021)

Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies. - Preston Culbertson; Jean-Jacques E. Slotine; Mac Schwager (IEEE Trans. Robotics, 2021)

Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios. - Mingyu Wang 002; Zijian Wang 003; John Talbot; J. Christian Gerdes; Mac Schwager (IEEE Trans. Robotics, 2021)

Game-Theoretic Planning for Autonomous Driving among Risk-Aware Human Drivers. - Rohan Chandra; Mingyu Wang 002; Mac Schwager; Dinesh Manocha (ICRA, 2022)

CineMPC: Controlling Camera Intrinsics and Extrinsics for Autonomous Cinematography. - Pablo Pueyo; Eduardo Montijano; Ana C. Murillo; Mac Schwager (ICRA, 2022)

FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget. - Oriana Peltzer; Amanda Bouman; Sung-Kyun Kim; Ransalu Senanayake; Joshua Ott; Harrison Delecki; Mamoru Sobue; Mykel J. Kochenderfer; Mac Schwager; Joel Burdick; Ali-akbar Agha-mohammadi (IROS, 2022)

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

ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games. - Simon Le Cleac'h; Mac Schwager; Zachary Manchester (Auton. Robots, 2022)

Dojo: A Differentiable Simulator for Robotics. - Taylor A. Howell; Simon Le Cleac'h; J. Zico Kolter; Mac Schwager; Zachary Manchester (CoRR, 2022)

Learning Deep SDF Maps Online for Robot Navigation and Exploration. - Gadiel Sznaier Camps; Robert Dyro; Marco Pavone 001; Mac Schwager (CoRR, 2022)

NeRF-Loc: Transformer-Based Object Localization Within Neural Radiance Fields. - Jiankai Sun; Yan Xu 001; Mingyu Ding; Hongwei Yi; Jingdong Wang 001; Liangjun Zhang; Mac Schwager (CoRR, 2022)

Reachable Polyhedral Marching (RPM): An Exact Analysis Tool for Deep-Learned Control Systems. - Joseph A. Vincent; Mac Schwager (CoRR, 2022)

Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstacles. - Roya Firoozi; Alexandre Mir; Gadi Sznaier Camps; Mac Schwager (CoRR, 2022)

Vision-Only Robot Navigation in a Neural Radiance World. - Michal Adamkiewicz; Timothy Chen; Adam Caccavale; Rachel Gardner; Preston Culbertson; Jeannette Bohg; Mac Schwager (IEEE Robotics Autom. Lett., 2022)

CoCo: Online Mixed-Integer Control Via Supervised Learning. - Abhishek Cauligi; Preston Culbertson; Edward Schmerling; Mac Schwager; Bartolomeo Stellato; Marco Pavone 001 (IEEE Robotics Autom. Lett., 2022)

DiNNO: Distributed Neural Network Optimization for Multi-Robot Collaborative Learning. - Javier Yu; Joseph A. Vincent; Mac Schwager (IEEE Robotics Autom. Lett., 2022)

Learning Large Graph-Based MDPs With Historical Data. - Ravi N. Haksar; Mac Schwager (IEEE Trans. Control. Netw. Syst., 2022)

Large Scale Aerial Multi-Robot Coverage Path Planning. - Kunal Shah; Annie Schmidt; Grant Ballard; Mac Schwager (Field Robotics, 2022)

Distributed Target Tracking in Multi-Agent Networks via Sequential Quadratic Alternating Direction Method of Multipliers. - Ola Shorinwa; Mac Schwager (ACC, 2023)

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

Fast and Scalable Signal Inference for Active Robotic Source Seeking. - Christopher E. Denniston; Oriana Peltzer; Joshua Ott; Sangwoo Moon; Sung-Kyun Kim; Gaurav S. Sukhatme; Mykel J. Kochenderfer; Mac Schwager; Ali-akbar Agha-mohammadi (ICRA, 2023)

Local Non-Cooperative Games with Principled Player Selection for Scalable Motion Planning. - Makram Chahine; Roya Firoozi; Wei Xiao 003; Mac Schwager; Daniela Rus (IROS, 2023)

CineTransfer: Controlling a Robot to Imitate Cinematographic Style from a Single Example. - Pablo Pueyo; Eduardo Montijano; Ana C. Murillo; Mac Schwager (IROS, 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)

Conformal Prediction for Uncertainty-Aware Planning with Diffusion Dynamics Model. - Jiankai Sun; Yiqi Jiang; Jianing Qiu; Parth Nobel; Mykel J. Kochenderfer; Mac Schwager (NeurIPS, 2023)

Distributed Optimization Methods for Multi-Robot Systems: Part I - A Tutorial. - Ola Shorinwa; Trevor Halsted; Javier Yu; Mac Schwager (CoRR, 2023)

Distributed Optimization Methods for Multi-Robot Systems: Part II - A Survey. - Ola Shorinwa; Trevor Halsted; Javier Yu; Mac Schwager (CoRR, 2023)

Incorporating Human Path Preferences in Robot Navigation with Minimal Interventions. - Oriana Peltzer; Dylan M. Asmar; Mac Schwager; Mykel J. Kochenderfer (CoRR, 2023)

NerfBridge: Bringing Real-time, Online Neural Radiance Field Training to Robotics. - Javier Yu; Jun En Low; Keiko Nagami; Mac Schwager (CoRR, 2023)

Large-Scale Multi-Robot Assembly Planning for Autonomous Manufacturing. - Kyle Brown; Dylan M. Asmar; Mac Schwager; Mykel J. Kochenderfer (CoRR, 2023)

Aria-NeRF: Multimodal Egocentric View Synthesis. - Jiankai Sun; Jianing Qiu; Chuanyang Zheng; John Tucker 001; Javier Yu; Mac Schwager (CoRR, 2023)

CLIPSwarm: Converting text into formations of robots. - Pablo Pueyo; Eduardo Montijano; Ana C. Murillo; Mac Schwager (CoRR, 2023)

NeRF-Loc: Transformer-Based Object Localization Within Neural Radiance Fields. - Jiankai Sun; Yan Xu 001; Mingyu Ding; Hongwei Yi; Chen Wang 053; Jingdong Wang 001; Liangjun Zhang; Mac Schwager (IEEE Robotics Autom. Lett., 2023)

Intention Communication and Hypothesis Likelihood in Game-Theoretic Motion Planning. - Makram Chahine; Roya Firoozi; Wei Xiao 003; Mac Schwager; Daniela Rus (IEEE Robotics Autom. Lett., 2023)

Differentiable Physics Simulation of Dynamics-Augmented Neural Objects. - Simon Le Cleac'h; Hong-Xing Yu; Michelle Guo; Taylor A. Howell; Ruohan Gao; Jiajun Wu 001; Zachary Manchester; Mac Schwager (IEEE Robotics Autom. Lett., 2023)

Maximum-Entropy Multi-Agent Dynamic Games: Forward and Inverse Solutions. - Negar Mehr; Mingyu Wang 002; Maulik Bhatt; Mac Schwager (IEEE Trans. Robotics, 2023)

Distributed Multirobot Task Assignment via Consensus ADMM. - Ola Shorinwa; Ravi N. Haksar; Patrick H. Washington; Mac Schwager (IEEE Trans. Robotics, 2023)

Single-Level Differentiable Contact Simulation. - Simon Le Cleac'h; Mac Schwager; Zachary Manchester; Vikas Sindhwani; Pete Florence; Sumeet Singh (IEEE Robotics Autom. Lett., 2023)

Constrained Control of Large Graph-Based MDPs Under Measurement Uncertainty. - Ravi N. Haksar; Mac Schwager (IEEE Trans. Autom. Control., 2023)

Distributed Conjugate Gradient Method via Conjugate Direction Tracking. - Ola Shorinwa; Mac Schwager (ACC, 2024)

Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer. - Tyler Ga Wei Lum; Albert H. Li; Preston Culbertson; Krishnan Srinivasan; Aaron D. Ames; Mac Schwager; Jeannette Bohg (CoRL, 2024)

Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting. - Ola Shorinwa; Johnathan Tucker 001; Aliyah Smith; Aiden Swann; Timothy Chen; Roya Firoozi; Monroe Kennedy III; Mac Schwager (CoRL, 2024)

Gen-Swarms: Adapting Deep Generative Models to Swarms of Drones. - Carlos Plou; Pablo Pueyo; Ruben Martinez-Cantin; Mac Schwager; Ana C. Murillo; Eduardo Montijano (ECCV Workshops (8), 2024)

CLIPSwarm: Generating Drone Shows from Text Prompts with Vision-Language Models. - Pablo Pueyo; Eduardo Montijano; Ana C. Murillo; Mac Schwager (IROS, 2024)

Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting. - Aiden Swann; Matthew Strong; Won Kyung Do; Gadiel Sznaier Camps; Mac Schwager; Monroe Kennedy III (IROS, 2024)

Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps. - Timothy Chen; Ola Shorinwa; Weijia Zeng; Joseph Bruno; Philip M. Dames; Mac Schwager (CoRR, 2024)

Out-of-Distribution Runtime Adaptation with Conformalized Neural Network Ensembles. - Polo Contreras; Ola Shorinwa; Mac Schwager (CoRR, 2024)

SAFER-Splat: A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps. - Timothy Chen; Aiden Swann; Javier Yu; Ola Shorinwa; Riku Murai; Monroe Kennedy III; Mac Schwager (CoRR, 2024)

E2Map: Experience-and-Emotion Map for Self-Reflective Robot Navigation with Language Models. - Chan Kim; Keonwoo Kim; Mintaek Oh; Hanbi Baek; Jiyang Lee; Donghwi Jung; Soojin Woo; Younkyung Woo; John Tucker 001; Roya Firoozi; Seung-Woo Seo; Mac Schwager; et al. (CoRR, 2024)

Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly. - Jiankai Sun; Aidan Curtis; Yang You 004; Yan Xu 001; Michael Koehle; Leonidas J. Guibas; Sachin Chitta; Mac Schwager; Hui Li (CoRR, 2024)

DisCo: Distributed Contact-Rich Trajectory Optimization for Forceful Multi-Robot Collaboration. - Ola Shorinwa; Matthew R. Devlin; Elliot W. Hawkes; Mac Schwager (CoRR, 2024)

FAST-Splat: Fast, Ambiguity-Free Semantics Transfer in Gaussian Splatting. - Ola Shorinwa; Jiankai Sun; Mac Schwager (CoRR, 2024)

Online Path Repair: Adapting to Robot Failures in Multi-Robot Aerial Surveys. - Jaden Clark; Kunal Shah; Mac Schwager (IEEE Robotics Autom. Lett., 2024)

CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes. - Timothy Chen; Preston Culbertson; Mac Schwager (IEEE Trans. Robotics, 2024)

Fast Contact-Implicit Model Predictive Control. - Simon Le Cleac'h; Taylor A. Howell; Shuo Yang; Chi-Yen Lee; John Z. Zhang; Arun L. Bishop; Mac Schwager; Zachary Manchester (IEEE Trans. Robotics, 2024)

CineMPC: A Fully Autonomous Drone Cinematography System Incorporating Zoom, Focus, Pose, and Scene Composition. - Pablo Pueyo; Juan Dendarieta; Eduardo Montijano; Ana Cristina Murillo; Mac Schwager (IEEE Trans. Robotics, 2024)

Guarantees on Robot System Performance Using Stochastic Simulation Rollouts. - Joseph A. Vincent; Aaron O. Feldman; Mac Schwager (IEEE Trans. Robotics, 2024)

Distributed Quasi-Newton Method for Multi-Agent Optimization. - Ola Shorinwa; Mac Schwager (IEEE Trans. Signal Process., 2024)

Distributed Model Predictive Control via Separable Optimization in Multiagent Networks. - Ola Shorinwa; Mac Schwager (IEEE Trans. Autom. Control., 2024)

State Estimation and Belief Space Planning Under Epistemic Uncertainty for Learning-Based Perception Systems. - Keiko Nagami; Mac Schwager (IEEE Robotics Autom. Lett., 2024)

Distributed Optimization Methods for Multi-Robot Systems: Part 1 - A Tutorial [Tutorial]. - Ola Shorinwa; Trevor Halsted; Javier Yu; Mac Schwager (IEEE Robotics Autom. Mag., 2024)

Distributed Optimization Methods for Multi-Robot Systems: Part 2 - A Survey. - Ola Shorinwa; Trevor Halsted; Javier Yu; Mac Schwager (IEEE Robotics Autom. Mag., 2024)

How Generalizable is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation. - Joseph A. Vincent; Haruki Nishimura; Masha Itkina; Paarth Shah; Mac Schwager; Thomas Kollar (IEEE Robotics Autom. Lett., 2024)

Safe, Out-of-Distribution-Adaptive MPC with Conformalized Neural Network Ensembles. - Jose Leopoldo Contreras; Ola Shorinwa; Mac Schwager (L4DC, 2025)

Foundation models in robotics: Applications, challenges, and the future. - Roya Firoozi; John Tucker 001; Stephen Tian; Anirudha Majumdar; Jiankai Sun; Weiyu Liu; Yuke Zhu; Shuran Song; Ashish Kapoor; Karol Hausman; Brian Ichter; Danny Driess; et al. (Int. J. Robotics Res., 2025)

Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps. - Timothy Chen; Ola Shorinwa; Joseph Bruno; Aiden Swann; Javier Yu; Weijia Zeng; Keiko Nagami; Philip M. Dames; Mac Schwager (IEEE Trans. Robotics, 2025)

Learning Robot Safety from Sparse Human Feedback using Conformal Prediction. - Aaron O. Feldman; Joseph A. Vincent; Maximilian Adang; Jun En Low; Mac Schwager (CoRR, 2025)

SIREN: Semantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Maps. - Ola Shorinwa; Jiankai Sun; Mac Schwager; Anirudha Majumdar (CoRR, 2025)

GRaD-Nav: Efficiently Learning Visual Drone Navigation with Gaussian Radiance Fields and Differentiable Dynamics. - Qianzhong Chen; Jiankai Sun; Naixiang Gao; JunEn Low; Timothy Chen; Mac Schwager (CoRR, 2025)

Demystifying Diffusion Policies: Action Memorization and Simple Lookup Table Alternatives. - Chengyang He; Xu Liu; Gadiel Sznaier Camps; Guillaume Sartoretti; Mac Schwager (CoRR, 2025)

Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation. - Chengyang He; Gadiel Sznaier Camps; Xu Liu; Mac Schwager; Guillaume Sartoretti (CoRR, 2025)

SOUS VIDE: Cooking Visual Drone Navigation Policies in a Gaussian Splatting Vacuum. - Jun En Low; Maximilian Adang; Javier Yu; Keiko Nagami; Mac Schwager (IEEE Robotics Autom. Lett., 2025)

OA-MPC: Occlusion-Aware MPC for Guaranteed Safe Robot Navigation With Unseen Dynamic Obstacles. - Roya Firoozi; Alexandre Mir; Gadiel Sznaier Camps; Mac Schwager (IEEE Trans. Control. Syst. Technol., 2025)

GRaD-Nav++: Vision-Language Model Enabled Visual Drone Navigation with Gaussian Radiance Fields and Differentiable Dynamics. - Qianzhong Chen; Naixiang Gao; Suning Huang; JunEn Low; Timothy Chen; Jiankai Sun; Mac Schwager (CoRR, 2025)

ParticleFormer: A 3D Point Cloud World Model for Multi-Object, Multi-Material Robotic Manipulation. - Suning Huang; Qianzhong Chen; Xiaohan Zhang; Jiankai Sun; Mac Schwager (CoRR, 2025)

VISTA: Open-Vocabulary, Task-Relevant Robot Exploration with Online Semantic Gaussian Splatting. - Keiko Nagami; Timothy Chen; Javier Yu; Ola Shorinwa; Maximilian Adang; Carlyn Dougherty; Eric Cristofalo; Mac Schwager (CoRR, 2025)

SAS: Simulated Attention Score. - Chuanyang Zheng; Jiankai Sun; Yihang Gao; Yuehao Wang; Peihao Wang; Jing Xiong; Liliang Ren; Hao Cheng 002; Janardhan Kulkarni; Yelong Shen; Atlas Wang; Mac Schwager; et al. (CoRR, 2025)

PERRY: Policy Evaluation with Confidence Intervals using Auxiliary Data. - Aishwarya Mandyam; Jason Meng; Ge Gao; Jiankai Sun; Mac Schwager; Barbara E. Engelhardt; Emma Brunskill (CoRR, 2025)

Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competition. - Ruiyang Hao; Haibao Yu; Jiaru Zhong; Chuanye Wang; Jiahao Wang; Yiming Kan; Wenxian Yang; Siqi Fan 002; Huilin Yin; Jianing Qiu; Yao Mu 001; Jiankai Sun; et al. (CoRR, 2025)

HAMMER: Heterogeneous, Multi-Robot Semantic Gaussian Splatting. - Javier Yu; Timothy Chen; Mac Schwager (IEEE Robotics Autom. Lett., 2025)