Mac Schwager

All Publications

• How Generalizable is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation IEEE ROBOTICS AND AUTOMATION LETTERS Vincent, J. A., Nishimura, H., Itkina, M., Shah, P., Schwager, M., Kollar, T. 2024; 9 (10): 8619-8626

  View details for DOI 10.1109/LRA.2024.3445635

  View details for Web of Science ID 001303441600002

• Foundation models in robotics: Applications, challenges, and the future INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Firoozi, R., Tucker, J., Tian, S., Majumdar, A., Sun, J., Liu, W., Zhu, Y., Song, S., Kapoor, A., Hausman, K., Ichter, B., Driess, D., Wu, J., Lu, C., Schwager, M. 2024

  View details for DOI 10.1177/02783649241281508

  View details for Web of Science ID 001319814900001

• State Estimation and Belief Space Planning Under Epistemic Uncertainty for Learning-Based Perception Systems IEEE ROBOTICS AND AUTOMATION LETTERS Nagami, K., Schwager, M. 2024; 9 (6): 5118-5125

  View details for DOI 10.1109/LRA.2024.3387139

  View details for Web of Science ID 001209593700004

• Online Path Repair: Adapting to Robot Failures in Multi-Robot Aerial Surveys IEEE ROBOTICS AND AUTOMATION LETTERS Clark, J., Shah, K., Schwager, M. 2024; 9 (3): 2319-2326

  View details for DOI 10.1109/LRA.2024.3355730

  View details for Web of Science ID 001167554600028

• Distributed Optimization Methods for Multi-robot Systems: Part 1-A Tutorial IEEE ROBOTICS & AUTOMATION MAGAZINE Shorinwa, O., Halsted, T., Yu, J., Schwager, M. 2024

  View details for DOI 10.1109/MRA.2024.3358718

  View details for Web of Science ID 001164085700001

• Distributed Optimization Methods for Multi-robot Systems: Part 2-A Survey IEEE ROBOTICS & AUTOMATION MAGAZINE Shorinwa, O., Halsted, T., Yu, J., Schwager, M. 2024

  View details for DOI 10.1109/MRA.2024.3352852

  View details for Web of Science ID 001166967600001

• CineMPC: A Fully Autonomous Drone Cinematography System Incorporating Zoom, Focus, Pose, and Scene Composition IEEE TRANSACTIONS ON ROBOTICS Pueyo, P., Dendarieta, J., Montijano, E., Murillo, A., Schwager, M. 2024; 40: 1740-1757

  View details for DOI 10.1109/TRO.2024.3353550

  View details for Web of Science ID 001174036700003

• Distributed Quasi-Newton Method for Multi-Agent Optimization IEEE TRANSACTIONS ON SIGNAL PROCESSING Shorinwa, O., Schwager, M. 2024; 72: 3535-3546

  View details for DOI 10.1109/TSP.2024.3424436

  View details for Web of Science ID 001290239500004

• Guarantees on Robot System Performance Using Stochastic Simulation Rollouts IEEE TRANSACTIONS ON ROBOTICS Vincent, J. A., Feldman, A. O., Schwager, M. 2024; 40: 3984-4002

  View details for DOI 10.1109/TRO.2024.3444070

  View details for Web of Science ID 001303447500003

• CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes IEEE TRANSACTIONS ON ROBOTICS Chen, T., Culbertson, P., Schwager, M. 2024; 40: 2712-2728

  View details for DOI 10.1109/TRO.2024.3386394

  View details for Web of Science ID 001214543600002

• Distributed Model Predictive Control via Separable Optimization in Multiagent Networks IEEE TRANSACTIONS ON AUTOMATIC CONTROL Shorinwa, O., Schwager, M. 2024; 69 (1): 230-245

  View details for DOI 10.1109/TAC.2023.3269338

  View details for Web of Science ID 001163003600023

• Fast Contact-Implicit Model Predictive Control IEEE TRANSACTIONS ON ROBOTICS Le Cleac'h, S., Howell, T. A., Yang, S., Lee, C., Zhang, J., Bishop, A., Schwager, M., Manchester, Z. 2024; 40: 1617-1629

  View details for DOI 10.1109/TRO.2024.3351554

  View details for Web of Science ID 001167548100002

• Constrained Control of Large Graph-Based MDPs Under Measurement Uncertainty IEEE TRANSACTIONS ON AUTOMATIC CONTROL Haksar, R. N., Schwager, M. 2023; 68 (11): 6605-6620

  View details for DOI 10.1109/TAC.2023.3242344

  View details for Web of Science ID 001129998200012

• NeRF-Loc: Transformer-Based Object Localization Within Neural Radiance Fields IEEE ROBOTICS AND AUTOMATION LETTERS Sun, J., Xu, Y., Ding, M., Yi, H., Wang, C., Wang, J., Zhang, L., Schwager, M. 2023; 8 (8): 5244-5250

  View details for DOI 10.1109/LRA.2023.3293308

  View details for Web of Science ID 001030616500013

• Single-Level Differentiable Contact Simulation IEEE ROBOTICS AND AUTOMATION LETTERS Le Cleac'h, S., Schwager, M., Manchester, Z., Sindhwani, V., Florence, P., Singh, S. 2023; 8 (7): 4012-4019

  View details for DOI 10.1109/LRA.2023.3268824

  View details for Web of Science ID 001000264500003

• Differentiable Physics Simulation of Dynamics-Augmented Neural Objects IEEE ROBOTICS AND AUTOMATION LETTERS Le Cleac'h, S., Yu, H., Guo, M., Howell, T., Gao, R., Wu, J., Manchester, Z., Schwager, M. 2023; 8 (5): 2780-2787

  View details for DOI 10.1109/LRA.2023.3257707

  View details for Web of Science ID 000964797800002

• Intention Communication and Hypothesis Likelihood in Game-Theoretic Motion Planning IEEE ROBOTICS AND AUTOMATION LETTERS Chahine, M., Firoozi, R., Xiao, W., Schwager, M., Rus, D. 2023; 8 (3): 1223-1230

  View details for DOI 10.1109/LRA.2023.3238131

  View details for Web of Science ID 000923839100004

• Maximum-Entropy Multi-Agent Dynamic Games: Forward and Inverse Solutions IEEE TRANSACTIONS ON ROBOTICS Mehr, N., Wang, M., Bhatt, M., Schwager, M. 2023

  View details for DOI 10.1109/TRO.2022.3232300

  View details for Web of Science ID 000921109600001

• Distributed Multirobot Task Assignment via Consensus ADMM IEEE TRANSACTIONS ON ROBOTICS Shorinwa, O., Haksar, R. N., Washington, P., Schwager, M. 2023

  View details for DOI 10.1109/TRO.2022.3228132

  View details for Web of Science ID 000910212900001

• Connected Autonomous Vehicle Motion Planning with Video Predictions from Smart, Self-Supervised Infrastructure Sun, J., Kousik, S., Fridovich-Keil, D., Schwager, M., IEEE IEEE. 2023: 1721-1726

  View details for Web of Science ID 001178996701109

• Conformal Prediction for Uncertainty-Aware Planning with Diffusion Dynamics Model Sun, J., Jiang, Y., Qiu, J., Nobel, P., Kochenderfer, M., Schwager, M., Oh, A., Neumann, T., Globerson, A., Saenko, K., Hardt, M., Levine, S. NEURAL INFORMATION PROCESSING SYSTEMS (NIPS). 2023

  View details for Web of Science ID 001220600004034

• CineTransfer: Controlling a Robot to Imitate Cinematographic Style from a Single Example Pueyo, P., Montijano, E., Murillo, A. C., Schwager, M., IEEE IEEE. 2023: 10044-10049

  View details for DOI 10.1109/IROS55552.2023.10342280

  View details for Web of Science ID 001136907803119

• Local Non-Cooperative Games with Principled Player Selection for Scalable Motion Planning Chahine, M., Firoozi, R., Xiao, W., Schwager, M., Rus, D., IEEE IEEE. 2023: 880-887

  View details for DOI 10.1109/IROS55552.2023.10341677

  View details for Web of Science ID 001133658800095

• GrAVITree: Graph-based Approximate Value Function In a Tree Washington, P. H., Fridovich-Keil, D., Schwager, M., IEEE IEEE. 2023: 4611-4618

  View details for Web of Science ID 001027160304021

• Distributed Target Tracking in Multi-Agent Networks via Sequential Quadratic Alternating Direction Method of Multipliers Shorinwa, O., Schwager, M., IEEE IEEE. 2023: 341-348

  View details for Web of Science ID 001027160300048

• CoCo: Online Mixed-Integer Control Via Supervised Learning IEEE ROBOTICS AND AUTOMATION LETTERS Cauligi, A., Culbertson, P., Schmerling, E., Schwager, M., Stellato, B., Pavone, M. 2022; 7 (2): 1447-1454

  View details for DOI 10.1109/LRA.2021.3135931

  View details for Web of Science ID 000742180000022

• Vision-Only Robot Navigation in a Neural Radiance World IEEE ROBOTICS AND AUTOMATION LETTERS Adamkiewicz, M., Chen, T., Caccavale, A., Gardner, R., Culbertson, P., Bohg, J., Schwager, M. 2022; 7 (2): 4606-4613

  View details for DOI 10.1109/LRA.2022.3150497

  View details for Web of Science ID 000766269000016

• DiNNO: Distributed Neural Network Optimization for Multi-Robot Collaborative Learning IEEE ROBOTICS AND AUTOMATION LETTERS Yu, J., Vincent, J. A., Schwager, M. 2022; 7 (2): 1896-1903

  View details for DOI 10.1109/LRA.2022.3142402

  View details for Web of Science ID 000745524600020

• Fast Reciprocal Collision Avoidance Under Measurement Uncertainty Angeris, G., Shah, K., Schwager, M., Asfour, T., Yoshida, E., Park, J., Christensen, H., Khatib, O. SPRINGER INTERNATIONAL PUBLISHING AG. 2022: 191-207

  View details for DOI 10.1007/978-3-030-95459-8_12

  View details for Web of Science ID 000771723700012

• FIG-OP: Exploring large-scale unknown environments on a fixed time budget IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Peltzer, O., Bouman, A., Kim, S., Senanayake, R., Ott, J., Delecki, H., Sobue, M., Kochenderfer, M. J., Schwager, M., Burdick, J., Agha-mohammadi, A. 2022

  View details for DOI 10.1109/IROS47612.2022.9981271

• Self-Supervised Traffic Advisors: Distributed, Multi-view Traffic Prediction for Smart Cities Sun, J., Kousik, S., Fridovich-Keil, D., Schwager, M., IEEE IEEE. 2022: 917-922

  View details for DOI 10.1109/ITSC55140.2022.9922340

  View details for Web of Science ID 000934720600142

• CineMPC: Controlling Camera Intrinsics and Extrinsics for Autonomous Cinematography Pueyo, P., Montijano, E., Murillo, A. C., Schwager, M., IEEE IEEE. 2022: 4058-4064

  View details for DOI 10.1109/ICRA46639.2022.9811827

  View details for Web of Science ID 000941265702064

• Game-Theoretic Planning for Autonomous Driving among Risk-Aware Human Drivers Chandra, R., Wang, M., Schwager, M., Manocha, D., IEEE IEEE. 2022: 2876-2883

  View details for DOI 10.1109/ICRA46639.2022.9811865

  View details for Web of Science ID 000941265701134

• Consensus-Based ADMM for Task Assignment in Multi-robot Teams Haksar, R. N., Shorinwa, O., Washington, P., Schwager, M., Asfour, T., Yoshida, E., Park, J., Christensen, H., Khatib, O. SPRINGER INTERNATIONAL PUBLISHING AG. 2022: 35-51

  View details for DOI 10.1007/978-3-030-95459-8_3

  View details for Web of Science ID 000771723700003

• Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies IEEE TRANSACTIONS ON ROBOTICS Culbertson, P., Slotine, J., Schwager, M. 2021; 37 (6): 1906-1920

  View details for DOI 10.1109/TRO.2021.3072021

  View details for Web of Science ID 000725804900008

• ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games AUTONOMOUS ROBOTS Le Cleac'h, S., Mac Schwager, Manchester, Z. 2021

  View details for DOI 10.1007/s10514-021-10024-7

  View details for Web of Science ID 000714998700001

• SACBP: Belief space planning for continuous-time dynamical systems via stochastic sequential action control INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Nishimura, H., Schwager, M. 2021

  View details for DOI 10.1177/02783649211037697

  View details for Web of Science ID 000684688300001

• Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios IEEE TRANSACTIONS ON ROBOTICS Wang, M., Wang, Z., Talbot, J., Gerdes, J., Schwager, M. 2021; 37 (4): 1313-1325

  View details for DOI 10.1109/TRO.2020.3047521

  View details for Web of Science ID 000682134200019

• LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning IEEE ROBOTICS AND AUTOMATION LETTERS Le Cleac'h, S., Schwager, M., Manchester, Z. 2021; 6 (3): 5485-5492

  View details for DOI 10.1109/LRA.2021.3074880

  View details for Web of Science ID 000652782200002

• RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch IEEE ROBOTICS AND AUTOMATION LETTERS Nishimura, H., Mehr, N., Gaidon, A., Schwager, M. 2021; 6 (2): 763–70

  View details for DOI 10.1109/LRA.2020.3048660

  View details for Web of Science ID 000613541600002

• HJB-RL:Initializing Reinforcement Learning with Optimal Control Policies Applied to Autonomous Drone Racing Nagami, K., Schwager, M., Shell, D. A., Toussaint, M., Hsieh, M. A. RSS FOUNDATION-ROBOTICS SCIENCE & SYSTEMS FOUNDATION. 2021

  View details for Web of Science ID 000684604200062

• Reduced State Value Iteration for Multi-Drone Persistent Surveillance with Charging Constraints Washington, P. H., Schwager, M., IEEE IEEE. 2021: 6390-6397

  View details for DOI 10.1109/IROS51168.2021.9636160

  View details for Web of Science ID 000755125505022

• MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception International Symposium on Experimental Robotics Ramtoula, B., Caccavale, A., Beltrame, G., Schwager, M. 2021: 520-532

  View details for DOI 10.1007/978-3-030-71151-1_46

• Reachable polyhedral marching (rpm): A safety verification algorithm for robotic systems with deep neural network components 2021 IEEE International Conference on Robotics and Automation (ICRA) Vincent, J. A., Schwager, M. IEEE. 2021: 9029-9035

  View details for DOI 10.1109/ICRA48506.2021.9561956

• TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Chen, C., Culbertson, P., Lepert, M., Schwager, M., Bohg, J. IEEE. 2021: 8262-8268

  View details for DOI 10.1109/IROS51168.2021.9636346

• Learning Large Graph-based MDPs with Historical Data IEEE Transactions on Control of Network Systems ( Early Access ) Haksar, R. N., Schwager, M. 2021

  View details for DOI 10.1109/TCNS.2021.3128530

• Distributed Contact-Implicit Trajectory Optimization for Collaborative Manipulation 2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS) Shorinwa, O., Schwager, M. IEEE. 2021: 56-65

  View details for DOI 10.1109/MRS50823.2021.9620665

• Multidrone aerial surveys of penguin colonies in Antarctica. Science robotics Shah, K., Ballard, G., Schmidt, A., Schwager, M. 2020; 5 (47)

  Abstract

  Speed is essential in wildlife surveys due to the dynamic movement of animals throughout their environment and potentially extreme changes in weather. In this work, we present a multirobot path-planning method for conducting aerial surveys over large areas designed to make the best use of limited flight time. Unlike current survey path-planning solutions based on geometric patterns or integer programs, we solve a series of satisfiability modulo theory instances of increasing complexity. Each instance yields a set of feasible paths at each iteration and recovers the set of shortest paths after sufficient time. We implemented our planning algorithm with a team of drones to conduct multiple photographic aerial wildlife surveys of Cape Crozier, one of the largest Adelie penguin colonies in the world containing more than 300,000 nesting pairs. Over 2 square kilometers was surveyed in about 3 hours. In contrast, previous human-piloted single-drone surveys of the same colony required over 2 days to complete. Our method reduces survey time by limiting redundant travel while also allowing for safe recall of the drones at any time during the survey. Our approach can be applied to other domains, such as wildfire surveys in high-risk weather conditions or disaster response.

  View details for DOI 10.1126/scirobotics.abc3000

  View details for PubMedID 33115884

• Locomotion of Linear Actuator Robots Through Kinematic Planning and Nonlinear Optimization IEEE TRANSACTIONS ON ROBOTICS Usevitch, N. S., Hammond, Z. M., Schwager, M. 2020; 36 (5): 1404–21

  View details for DOI 10.1109/TRO.2020.2995067

  View details for Web of Science ID 000576260400003

• A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing IEEE TRANSACTIONS ON ROBOTICS Spica, R., Cristofalo, E., Wang, Z., Montijano, E., Schwager, M. 2020; 36 (5): 1389–1403

  View details for DOI 10.1109/TRO.2020.2994881

  View details for Web of Science ID 000576260400002

• Vision-Based Control for Fast 3-D Reconstruction With an Aerial Robot IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY Cristofalo, E., Montijano, E., Schwager, M. 2020; 28 (4): 1189–1202

  View details for DOI 10.1109/TCST.2019.2905227

  View details for Web of Science ID 000542930400002

• Robots and autonomous systems, SI DARS 2018 ROBOTICS AND AUTONOMOUS SYSTEMS Correll, N., Schwager, M. 2020; 129

  View details for DOI 10.1016/j.robot.2020.103530

  View details for Web of Science ID 000536948300011

• Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization IEEE ROBOTICS AND AUTOMATION LETTERS Jackson, B. E., Howell, T. A., Shah, K., Schwager, M., Manchester, Z. 2020; 5 (2): 3368–74

  View details for DOI 10.1109/LRA.2020.2975956

  View details for Web of Science ID 000520954200018

• Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage IEEE ROBOTICS AND AUTOMATION LETTERS Haksar, R. N., Trimpe, S., Schwager, M. 2020; 5 (2): 3027–34

  View details for DOI 10.1109/LRA.2020.2974715

  View details for Web of Science ID 000526521700017

• An untethered isoperimetric soft robot SCIENCE ROBOTICS Usevitch, N. S., Hammond, Z. M., Schwager, M., Okamura, A. M., Hawkes, E. W., Follmer, S. 2020; 5 (40)

  View details for DOI 10.1126/scirobotics.aaz0492

  View details for Web of Science ID 000520870400001

• An untethered isoperimetric soft robot. Science robotics Usevitch, N. S., Hammond, Z. M., Schwager, M., Okamura, A. M., Hawkes, E. W., Follmer, S. 2020; 5 (40)

  Abstract

  For robots to be useful for real-world applications, they must be safe around humans, be adaptable to their environment, and operate in an untethered manner. Soft robots could potentially meet these requirements; however, existing soft robotic architectures are limited by their ability to scale to human sizes and operate at these scales without a tether to transmit power or pressurized air from an external source. Here, we report an untethered, inflated robotic truss, composed of thin-walled inflatable tubes, capable of shape change by continuously relocating its joints, while its total edge length remains constant. Specifically, a set of identical roller modules each pinch the tube to create an effective joint that separates two edges, and modules can be connected to form complex structures. Driving a roller module along a tube changes the overall shape, lengthening one edge and shortening another, while the total edge length and hence fluid volume remain constant. This isoperimetric behavior allows the robot to operate without compressing air or requiring a tether. Our concept brings together advantages from three distinct types of robots-soft, collective, and truss-based-while overcoming certain limitations of each. Our robots are robust and safe, like soft robots, but not limited by a tether; are modular, like collective robots, but not limited by complex subunits; and are shape-changing, like truss robots, but not limited by rigid linear actuators. We demonstrate two-dimensional (2D) robots capable of shape change and a human-scale 3D robot capable of punctuated rolling locomotion and manipulation, all constructed with the same modular rollers and operating without a tether.

  View details for DOI 10.1126/scirobotics.aaz0492

  View details for PubMedID 33022597

• Multi-agent sensitivity enhanced iterative best response: A real-time game theoretic planner for drone racing in 3D environments ROBOTICS AND AUTONOMOUS SYSTEMS Wang, Z., Taubner, T., Schwager, M. 2020; 125

  View details for DOI 10.1016/j.robot.2019.103410

  View details for Web of Science ID 000515203900012

• Scalable Distributed Optimization with Separable Variables in Multi-Agent Networks Shorinwa, O., Halsted, T., Schwager, M., IEEE IEEE. 2020: 3619–26

  View details for Web of Science ID 000618079803092

• Distributed Multi-Target Tracking for Autonomous Vehicle Fleets Shorinwa, O., Yu, J., Halsted, T., Koufos, A., Mac Schwager, IEEE IEEE. 2020: 3495-3501

  View details for Web of Science ID 000712319502071

• Enhancing Game-Theoretic Autonomous Car Racing Using Control Barrier Functions Notomista, G., Wang, M., Mac Schwager, Egerstedt, M., IEEE IEEE. 2020: 5393-5399

  View details for Web of Science ID 000712319503107

• Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning Brown, K., Peltzer, O., Sehr, M. A., Schwager, M., Kochenderfer, M. J., IEEE IEEE. 2020: 441-447

  View details for Web of Science ID 000712319500051

• Learning Mixed-Integer Convex Optimization Strategies for Robot Planning and Control Cauligi, A., Culbertson, P., Stellato, B., Bertsimas, D., Mac Schwager, Pavone, M., IEEE IEEE. 2020: 1698-1705

  View details for Web of Science ID 000717663401071

• Scalable Collaborative Manipulation with Distributed Trajectory Planning Shorinwa, O., Schwager, M., IEEE IEEE. 2020: 9108-9115

  View details for DOI 10.1109/IROS45743.2020.9340957

  View details for Web of Science ID 000724145803031

• Game-Theoretic Planning for Risk-Aware Interactive Agents Wang, M., Mehr, N., Gaidon, A., Mac Schwager, IEEE IEEE. 2020: 6998-7005

  View details for DOI 10.1109/IROS45743.2020.9341137

  View details for Web of Science ID 000724145801083

• Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction Nishimura, H., Ivanovic, B., Gaidon, A., Pavone, M., Schwager, M., IEEE IEEE. 2020: 11205-11212

  View details for DOI 10.1109/IROS45743.2020.9341469

  View details for Web of Science ID 000724145800133

• Distributed Motion Control for Multiple Connected Surface Vessels Wang, W., Wang, Z., Mateos, L., Huang, K., Schwager, M., Ratti, C., Rus, D., IEEE IEEE. 2020: 11658-11665

  View details for DOI 10.1109/IROS45743.2020.9340743

  View details for Web of Science ID 000724145801041

• Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments Senanayake, R., Toyungyernsub, M., Wang, M., Kochenderfer, M. J., Schwager, M., IEEE IEEE. 2020

  View details for Web of Science ID 000682770700112

• CinemAirSim: A Camera-Realistic Robotics Simulator for Cinematographic Purposes Pueyo, P., Cristofalo, E., Montijano, E., Mac Schwager, IEEE IEEE. 2020: 1186-1191

  View details for DOI 10.1109/IROS45743.2020.9341066

  View details for Web of Science ID 000714033800005

• GRAPE: Geometric Risk-Aware Pursuit-Evasion ROBOTICS AND AUTONOMOUS SYSTEMS Shah, K., Schwager, M. 2019; 121

  View details for DOI 10.1016/j.robot.2019.07.016

  View details for Web of Science ID 000491214500008

• Tracking a Markov Target in a Discrete Environment With Multiple Sensors IEEE TRANSACTIONS ON AUTOMATIC CONTROL Leahy, K., Schwager, M. 2019; 64 (6): 2396–2411

  View details for DOI 10.1109/TAC.2018.2857760

  View details for Web of Science ID 000469913800014

• Distributed multi-robot formation control in dynamic environments AUTONOMOUS ROBOTS Alonso-Mora, J., Montijano, E., Nageli, T., Hilliges, O., Schwager, M., Rus, D. 2019; 43 (5): 1079–1100

  View details for DOI 10.1007/s10514-018-9783-9

  View details for Web of Science ID 000468274800002

• Control in belief space with temporal logic specifications using vision-based localization INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Leahy, K., Cristofalo, E., Vasile, C., Jones, A., Montijano, E., Schwager, M., Belta, C. 2019; 38 (6): 702–22

  View details for DOI 10.1177/0278364919846340

  View details for Web of Science ID 000468940000005

• Consensus-based Distributed 3D Pose Estimation with Noisy Relative Measurements Cristofalo, E., Montijano, E., Schwager, M., IEEE IEEE. 2019: 2646–53

  View details for Web of Science ID 000560779002073

• Distributed Collision Avoidance of Multiple Robots with Probabilistic Buffered Voronoi Cells Wang, M., Schwager, M., Sabattini, L. IEEE. 2019: 169-175

  View details for Web of Science ID 000614713600036

• Cooperative Control of an Autonomous Floating Modular Structure Without Communication EXTENDED ABSTRACT Wang, W., Mateos, L., Wang, Z., Huang, K., Schwager, M., Ratti, C., Rus, D., Sabattini, L. IEEE. 2019: 44-46

  View details for Web of Science ID 000614713600010

• OuijaBots: Omnidirectional Robots for Cooperative Object Transport with Rotation Control Using No Communication Wang, Z., Yang, G., Su, X., Schwager, M., Gross, R., Kolling, A., Berman, S., Frazzoli, E., Martinoli, A., Matsuno, F., Gauci, M. SPRINGER INTERNATIONAL PUBLISHING AG. 2019: 117–31

  View details for DOI 10.1007/978-3-319-73008-0_9

  View details for Web of Science ID 000552327000009

• Multi-Robot Assembly Sequencing via Discrete Optimization Culbertson, P., Bandyopadhyay, S., Schwager, M., IEEE IEEE. 2019: 6502–9

  View details for Web of Science ID 000544658405022

• Trust But Verify: A Distributed Algorithm for Multi-Robot Wireframe Exploration and Mapping Caccavale, A., Mac Schwager, IEEE IEEE. 2019: 3294–3301

  View details for Web of Science ID 000544658402110

• Game Theoretic Planning for Self-Driving Cars in Competitive Scenarios Wang, M., Wang, Z., Talbot, J., Gerdes, J., Schwager, M., Bicchi, A., KressGazit, H., Hutchinson, S. MIT PRESS. 2019

  View details for Web of Science ID 000570976800047

• Controlling Heterogeneous Stochastic Growth Processes on Lattices with Limited Resources Haksar, R. N., Solowjow, F., Trimpe, S., Schwager, M., IEEE IEEE. 2019: 1315–22

  View details for Web of Science ID 000560779001045

• Scalable Filtering of Large Graph-Coupled Hidden Markov Models Haksar, R. N., Lorenzetti, J., Schwager, M., IEEE IEEE. 2019: 1307–14

  View details for Web of Science ID 000560779001044

• Translational and Rotational Invariance in Networked Dynamical Systems IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS Vasile, C., Schwager, M., Belta, C. 2018; 5 (3): 822–32

  View details for DOI 10.1109/TCNS.2017.2648499

  View details for Web of Science ID 000445357100001

• Agile Coordination and Assistive Collision Avoidance for Quadrotor Swarms Using Virtual Structures IEEE TRANSACTIONS ON ROBOTICS Zhou, D., Wang, Z., Schwager, M. 2018; 34 (4): 916–23

  View details for DOI 10.1109/TRO.2018.2857477

  View details for Web of Science ID 000442341000016

• Controlling Noncooperative Herds with Robotic Herders IEEE TRANSACTIONS ON ROBOTICS Pierson, A., Schwager, M. 2018; 34 (2): 517–25

  View details for DOI 10.1109/TRO.2017.2776308

  View details for Web of Science ID 000430595400017

• Distributed Deep Reinforcement Learning for Fighting Forest Fires with a Network of Aerial Robots Haksar, R. N., Schwager, M., Kosecka, J., Maciejewski, A. A., Okamura, A., Bicchi, A., Stachniss, C., Song, D. Z., Lee, D. H., Chaumette, F., Ding, H., Li, J. S., Wen, J., Roberts, J., Masamune, K., Chong, N. Y., Amato, N., Tsagwarakis, N., Rocco, P., Asfour, T., Chung, W. K., Yasuyoshi, Y., Sun, Y., Maciekeski, T., Althoefer, K., AndradeCetto, J., Chung, W. K., Demircan, E., Dias, J., Fraisse, P., Gross, R., Harada, H., Hasegawa, Y., Hayashibe, M., Kiguchi, K., Kim, K., Kroeger, T., Li, Y., Ma, S., Mochiyama, H., Monje, C. A., Rekleitis, Roberts, R., Stulp, F., Tsai, C. H., Zollo, L. IEEE. 2018: 1067–74

  View details for Web of Science ID 000458872701029

• A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing Spica, R., Falanga, D., Cristofalo, E., Montijano, E., Scaramuzza, D., Schwager, M., KressGazit, H., Srinivasa, S., Howard, T., Atanasov, N. MIT PRESS. 2018

  View details for Web of Science ID 000570976700040

• Controlling Large, Graph-based MDPs with Global Control Capacity Constraints: An Approximate LP Solution Haksar, R. N., Schwager, M., IEEE IEEE. 2018: 35–42

  View details for Web of Science ID 000458114800005

• Active Motion-Based Communication for Robots with Monocular Vision Nishimura, H., Schwager, M., IEEE IEEE COMPUTER SOC. 2018: 2948–55

  View details for Web of Science ID 000446394502041

• Decentralized Adaptive Control for Collaborative Manipulation Culbertson, P., Schwager, M., IEEE IEEE COMPUTER SOC. 2018: 278–85

  View details for Web of Science ID 000446394500029

• Safe Distributed Lane Change Maneuvers for Multiple Autonomous Vehicles Using Buffered Input Cells Wang, M., Wang, Z., Paudel, S., Schwager, M., IEEE IEEE COMPUTER SOC. 2018: 4678–84

  View details for Web of Science ID 000446394503082

• Cooperative Object Transport in 3D with Multiple Quadrotors using No Peer Communication Wang, Z., Singh, S., Pavone, M., Schwager, M., IEEE IEEE COMPUTER SOC. 2018: 1064–71

  View details for Web of Science ID 000446394500113

• Wireframe Mapping for Resource-Constrained Robots Caccavale, A., Schwager, M., Kosecka, J., Maciejewski, A. A., Okamura, A., Bicchi, A., Stachniss, C., Song, D. Z., Lee, D. H., Chaumette, F., Ding, H., Li, J. S., Wen, J., Roberts, J., Masamune, K., Chong, N. Y., Amato, N., Tsagwarakis, N., Rocco, P., Asfour, T., Chung, W. K., Yasuyoshi, Y., Sun, Y., Maciekeski, T., Althoefer, K., AndradeCetto, J., Chung, W. K., Demircan, E., Dias, J., Fraisse, P., Gross, R., Harada, H., Hasegawa, Y., Hayashibe, M., Kiguchi, K., Kim, K., Kroeger, T., Li, Y., Ma, S., Mochiyama, H., Monje, C. A., Rekleitis, Roberts, R., Stulp, F., Tsai, C. H., Zollo, L. IEEE. 2018: 8658–65

  View details for Web of Science ID 000458872707108

• Robust Adaptive Coverage Control for Robotic Sensor Networks IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS Schwager, M., Vitus, M. P., Powers, S., Rus, D., Tomlin, C. J. 2017; 4 (3): 462-476

  View details for DOI 10.1109/TCNS.2015.2512326

  View details for Web of Science ID 000411203700006

• Fast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells IEEE ROBOTICS AND AUTOMATION LETTERS Zhou, D., Wang, Z., Bandyopadhyay, S., Schwager, M. 2017; 2 (2): 1047–54

  View details for DOI 10.1109/LRA.2017.2656241

  View details for Web of Science ID 000413736600088

• Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders With Multiple Pursuers IEEE ROBOTICS AND AUTOMATION LETTERS Pierson, A., Wang, Z., Schwager, M. 2017; 2 (2): 530–37

  View details for DOI 10.1109/LRA.2016.2645516

  View details for Web of Science ID 000413736600021

• Adapting to sensing and actuation variations in multi-robot coverage INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Pierson, A., Figueiredo, L. C., Pimenta, L. C., Schwager, M. 2017; 36 (3): 337-354

  View details for DOI 10.1177/0278364916688103

  View details for Web of Science ID 000401023100006

• Localization of a Ground Robot by Aerial Robots for GPS-Deprived Control with Temporal Logic Constraints Cristofalo, E., Leahy, K., Vasile, C., Montijano, E., Schwager, M., Belta, C., Kulic, D., Nakamura, Y., Khatib, O., Venture, G. SPRINGER INTERNATIONAL PUBLISHING AG. 2017: 525–37

  View details for DOI 10.1007/978-3-319-50115-4_46

  View details for Web of Science ID 000418796400046

• Robust Adaptive Coverage for Robotic Sensor Networks Schwager, M., Vitus, M. P., Rus, D., Tomlin, C. J., Christensen, H. I., Khatib, O. SPRINGER-VERLAG BERLIN. 2017

  View details for DOI 10.1007/978-3-319-29363-9_25

  View details for Web of Science ID 000405326800025

• Distributed Multi-Robot Localization from Acoustic Pulses Using Euclidean Distance Geometry Halsted, T., Schwager, M., Giordano, P. R. IEEE. 2017

  View details for Web of Science ID 000427919700015

• Learning a Dynamical System Model for a Spatiotemporal Field Using a Mobile Sensing Robot Lan, X., Schwager, M., IEEE IEEE. 2017: 170–75

  View details for Web of Science ID 000427033300027

• Force-Amplifying N-robot Transport System (Force-ANTS) for cooperative planar manipulation without communication INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Wang, Z., Schwager, M. 2016; 35 (13): 1564-1586

  View details for DOI 10.1177/0278364916667473

  View details for Web of Science ID 000385847500002

• Rapidly Exploring Random Cycles: Persistent Estimation of Spatiotemporal Fields With Multiple Sensing Robots IEEE TRANSACTIONS ON ROBOTICS Lan, X., Schwager, M. 2016; 32 (5): 1230-1244

  View details for DOI 10.1109/TRO.2016.2596772

  View details for Web of Science ID 000385180400013

• Correlated Orienteering Problem and its Application to Persistent Monitoring Tasks IEEE TRANSACTIONS ON ROBOTICS Yu, J., Schwager, M., Rus, D. 2016; 32 (5): 1106-1118

  View details for DOI 10.1109/TRO.2016.2593450

  View details for Web of Science ID 000385180400005

• Flying Smartphones: When Portable Computing Sprouts Wings IEEE PERVASIVE COMPUTING Allen, R., Pavone, M., Schwager, M. 2016; 15 (3): 83-88

  View details for DOI 10.1109/MPRV.2016.43

  View details for Web of Science ID 000380058900014

• Vision-Based Distributed Formation Control Without an External Positioning System IEEE TRANSACTIONS ON ROBOTICS Montijano, E., Cristofalo, E., Zhou, D., Schwager, M., Saguees, C. 2016; 32 (2): 339-351

  View details for DOI 10.1109/TRO.2016.2523542

  View details for Web of Science ID 000374306700007

• Kinematic Multi-Robot Manipulation with no Communication Using Force Feedback Wang, Z., Schwager, M., Okamura, A., Menciassi, A., Ude, A., Burschka, D., Lee, D., Arrichiello, F., Liu, H., Moon, H., Neira, J., Sycara, K., Yokoi, K., Martinet, P., Oh, P., Valdastri, P., Krovi IEEE. 2016: 427–32

  View details for Web of Science ID 000389516200054

• Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus Alonso-Mora, J., Montijano, E., Schwager, M., Rus, D., Okamura, A., Menciassi, A., Ude, A., Burschka, D., Lee, D., Arrichiello, F., Liu, H., Moon, H., Neira, J., Sycara, K., Yokoi, K., Martinet, P., Oh, P., Valdastri, P., Krovi IEEE. 2016: 5356-5363

  View details for Web of Science ID 000389516204083

• Cooperative Multi-Quadrotor Pursuit of an Evader in an Environment with No-Fly Zones Pierson, A., Ataei, A., Paschalidis, I., Schwager, M., Okamura, A., Menciassi, A., Ude, A., Burschka, D., Lee, D., Arrichiello, F., Liu, H., Moon, H., Neira, J., Sycara, K., Yokoi, K., Martinet, P., Oh, P., Valdastri, P., Krovi IEEE. 2016: 320-326

  View details for Web of Science ID 000389516200042

• Distributed Formation Control of Non-Holonomic Robots without a Global Reference Frame Montijano, E., Cristofalo, E., Schwager, M., Sagues, C., Okamura, A., Menciassi, A., Ude, A., Burschka, D., Lee, D., Arrichiello, F., Liu, H., Moon, H., Neira, J., Sycara, K., Yokoi, K., Martinet, P., Oh, P., Valdastri, P., Krovi IEEE. 2016: 5248-5254

  View details for Web of Science ID 000389516204070

• Assistive Collision Avoidance for Quadrotor Swarm Teleoperation Zhou, D., Schwager, M., Okamura, A., Menciassi, A., Ude, A., Burschka, D., Lee, D., Arrichiello, F., Liu, H., Moon, H., Neira, J., Sycara, K., Yokoi, K., Martinet, P., Oh, P., Valdastri, P., Krovi IEEE. 2016: 1249-1254

  View details for Web of Science ID 000389516201019

• A Multi-Resolution Approach for Discovery and 3-D Modeling of Archaeological Sites Using Satellite Imagery and a UAV-borne Camera Ding, H., Cristofalo, E., Wang, J., Castanon, D., Montijano, E., Saligrama, V., Schwager, M., IEEE IEEE. 2016: 1359-1365

  View details for Web of Science ID 000388376101067

• Adaptive Inter-Robot Trust for Robust Multi-Robot Sensor Coverage Pierson, A., Schwager, M., Inaba, M., Corke, P. SPRINGER-VERLAG BERLIN. 2016: 167-183

  View details for DOI 10.1007/978-3-319-28872-7_10

  View details for Web of Science ID 000386325300010

• Q-Learning for Robust Satisfaction of Signal Temporal Logic Specifications Aksaray, D., Jones, A., Kong, Z., Schwager, M., Belta, C., IEEE IEEE. 2016: 6565-6570

  View details for Web of Science ID 000400048106123

• Control in Belief Space with Temporal Logic Specifications Vasile, C., Leahy, K., Cristofalo, E., Jones, A., Schwager, M., Belta, C., IEEE IEEE. 2016: 7419-7424

  View details for Web of Science ID 000400048107101

• Always Choose Second Best: Tracking a Moving Target on a Graph with a Noisy Binary Sensor Leahy, K., Schwager, M., IEEE IEEE. 2016: 1715-1721

  View details for Web of Science ID 000392695300285

• Active Magnetic Anomaly Detection Using Multiple Micro Aerial Vehicles IEEE ROBOTICS AND AUTOMATION LETTERS Dames, P. M., Schwager, M., Rus, D., Kumar, V. 2016; 1 (1): 153–60

  View details for DOI 10.1109/LRA.2015.2511444

  View details for Web of Science ID 000413719900021

• Rebalancing the Rebalancers: Optimally Routing Vehicles and Drivers in Mobility-on-Demand Systems American Control Conference (ACC) Smith, S. L., Pavone, M., Schwager, M., Frazzoli, E., Rus, D. IEEE. 2013: 2362–2367

  View details for Web of Science ID 000327210202087