Marco Pavone

Associate Professor of Aeronautics and Astronautics and, by courtesy, of Electrical Engineering and of Computer Science

Bio

Dr. Marco Pavone is an Associate Professor of Aeronautics and Astronautics at Stanford University, where he directs the Autonomous Systems Laboratory and the Center for Automotive Research at Stanford. He is also a Distinguished Research Scientist at NVIDIA where he leads autonomous vehicle research. Before joining Stanford, he was a Research Technologist within the Robotics Section at the NASA Jet Propulsion Laboratory. He received a Ph.D. degree in Aeronautics and Astronautics from the Massachusetts Institute of Technology in 2010. His main research interests are in the development of methodologies for the analysis, design, and control of autonomous systems, with an emphasis on self-driving cars, autonomous aerospace vehicles, and future mobility systems. He is a recipient of a number of awards, including a Presidential Early Career Award for Scientists and Engineers from President Barack Obama, an Office of Naval Research Young Investigator Award, a National Science Foundation Early Career (CAREER) Award, a NASA Early Career Faculty Award, and an Early-Career Spotlight Award from the Robotics Science and Systems Foundation. He was identified by the American Society for Engineering Education (ASEE) as one of America's 20 most highly promising investigators under the age of 40. His work has been recognized with best paper nominations or awards at a number of venues, including the European Conference on Computer Vision, the IEEE International Conference on Robotics and Automation, the European Control Conference, the IEEE International Conference on Intelligent Transportation Systems, the Field and Service Robotics Conference, the Robotics: Science and Systems Conference, and the INFORMS Annual Meeting.

Academic Appointments

Associate Professor, Aeronautics and Astronautics
Associate Professor (By courtesy), Electrical Engineering
Associate Professor (By courtesy), Computer Science
Faculty Affiliate, Institute for Human-Centered Artificial Intelligence (HAI)
Member, Institute for Computational and Mathematical Engineering (ICME)

Honors & Awards

PECASE Award, White House (2017)
YIP Award, ONR (2017)
CAREER Award, NSF (2015)
Frontiers of Engineering Program, National Academy of Engineering (2013)
Early Career Faculty award, NASA (2012)
Hellman Faculty Scholar Award, Hellman Fellows Fund (2012)
NIAC Fellow, NASA (2011)

Program Affiliations

Center for Automotive Research at Stanford (CARS)
Stanford SystemX Alliance

Professional Education

Ph.D., MIT, Aeronautics and Astronautics (2010)

Contact

Academic
pavone@stanford.edu
University - Faculty Department: Aeronautics and Astronautics Position: Assoc Professor
- 496 Lomita Mall
- Room 261
- Stanford, California 94305
- (650) 723-4432 (office)

Administrator Renee Quiroz Administrative Associate rnquiroz@stanford.edu
- (650) 723-2867 (office)

Additional Info

Mail Code: 4035
Profile:
Assistant Professor of Aeronautics and Astronautics
ORCID:
https://orcid.org/0000-0002-0206-4337

2024-25 Courses

Optimal and Learning-based Control
AA 203 (Spr)
Principles of Robot Autonomy I
AA 174A, CS 137A (Aut)
Principles of Robot Autonomy II
AA 174B, AA 274B, CS 237B, EE 260B, ME 274B (Win)
Robotics and Autonomous Systems Seminar
ENGR 319 (Aut)
Independent Studies (20)
- Advanced Reading and Research
  CS 499 (Aut, Win, Spr)
- Advanced Reading and Research
  CS 499P (Aut, Win, Spr)
- Curricular Practical Training
  CME 390 (Aut, Win, Spr)
- Curricular Practical Training
  CS 390A (Aut, Win, Spr)
- Curricular Practical Training
  CS 390B (Aut, Win, Spr)
- Curricular Practical Training
  CS 390C (Aut, Win, Spr)
- Directed Research and Writing in Aero/Astro
  AA 190 (Aut, Win, Spr)
- Experimental Investigation of Engineering Problems
  ME 392 (Aut, Win, Spr)
- Independent Project
  CS 399 (Aut, Win, Spr)
- Independent Project
  CS 399P (Aut, Win, Spr)
- Independent Study in Aero/Astro
  AA 199 (Aut, Win, Spr)
- Independent Work
  CS 199 (Aut, Win, Spr)
- Independent Work
  CS 199P (Aut, Win, Spr)
- Master's Research
  CME 291 (Aut, Win, Spr)
- Part-time Curricular Practical Training
  CS 390D (Aut, Win, Spr)
- Ph.D. Research
  CME 400 (Aut, Win, Spr)
- Ph.D. Research Rotation
  CME 391 (Aut)
- Practical Training
  AA 291 (Aut, Win, Spr)
- Problems in Aero/Astro
  AA 290 (Aut, Win, Spr)
- Supervised Undergraduate Research
  CS 195 (Aut, Win, Spr)
Prior Year Courses
2023-24 Courses
- Optimal and Learning-based Control
  AA 203 (Spr)
- Principles of Robot Autonomy I
  AA 174A, CS 137A, EE 160A (Aut)
- Principles of Robot Autonomy II
  AA 174B, AA 274B, CS 237B (Win)
- Robotics and Autonomous Systems Seminar
  AA 289, CS 529 (Aut, Win, Spr)
2022-23 Courses
- Principles of Robot Autonomy II
  AA 174B, AA 274B, CS 237B, EE 260B (Win)
- Robotics and Autonomous Systems Seminar
  AA 289, CS 529 (Aut, Win, Spr)
2021-22 Courses
- Principles of Robot Autonomy II
  AA 174B, AA 274B, CS 237B, EE 260B (Win)
- Robotics and Autonomous Systems Seminar
  AA 289, CS 529 (Win, Spr)

Stanford Advisees

Doctoral Dissertation Reader (AC)
Fadhil Ginting, Liam Kruse, Justin Luke, Emi Soroka, Anil Yildiz
Postdoctoral Faculty Sponsor
Daniele Gammelli
Doctoral Dissertation Advisor (AC)
John Alora, Amine Elhafsi, Devansh Jalota, Luis Pabon
Master's Program Advisor
Igor Barakaiev, Jerry Chan, Anshuk Chigullapalli, Derek Chong, Chenyang Dai, Aviad Golan Peretz, Ian Lim, Emily Okabe, Adrien Richez, Kristopher Riordan, Julian Rodriguez Cardenas, Matthew Simpson, Mike Timmerman, Owen Veit, Nyle Wong, Lucas Yantis, Sonny Young
Doctoral Dissertation Co-Advisor (AC)
Michelle Ho, Guillem Megias i Homar
Doctoral (Program)
Pranit Mohnot

All Publications

Gradient Descent-Based Task-Orientation Robot Control Enhanced With Gaussian Process Predictions IEEE ROBOTICS AND AUTOMATION LETTERS Roveda, L., Pavone, M. 2024; 9 (9): 8035-8042

View details for DOI 10.1109/LRA.2024.3438039

View details for Web of Science ID 001291902500008
Estimating the Convex Hull of the Image of a Set with Smooth Boundary: Error Bounds and Applications DISCRETE & COMPUTATIONAL GEOMETRY Lew, T., Bonalli, R., Janson, L., Pavone, M. 2024

View details for DOI 10.1007/s00454-024-00683-5

View details for Web of Science ID 001299709500001
When Efficiency Meets Equity in Congestion Pricing and Revenue Refunding Schemes IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS Jalota, D., Solovey, K., Gopalakrishnan, K., Zoepf, S., Balakrishnan, H., Pavone, M. 2024; 11 (2): 1127-1138

View details for DOI 10.1109/TCNS.2023.3333413

View details for Web of Science ID 001252775800033
Locomotion as manipulation with ReachBot. Science robotics Chen, T. G., Newdick, S., Di, J., Bosio, C., Ongole, N., Lapôtre, M., Pavone, M., Cutkosky, M. R. 2024; 9 (89): eadi9762

Abstract

Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a robot that uses extendable booms as appendages to manipulate itself with respect to irregular rock surfaces. The booms terminate in grippers equipped with microspines and provide ReachBot with a large workspace, allowing it to achieve force closure in enclosed spaces, such as the walls of a lava tube. To propel ReachBot, we present a contact-before-motion planner for nongaited legged locomotion that uses internal force control, similar to a multifingered hand, to keep its long, slender booms in tension. Motion planning also depends on finding and executing secure grips on rock features. We used a Monte Carlo simulation to inform gripper design and predict grasp strength and variability. In addition, we used a two-step perception system to identify possible grasp locations. To validate our approach and mechanisms under realistic conditions, we deployed a single ReachBot arm and gripper in a lava tube in the Mojave Desert. The field test confirmed that ReachBot will find many targets for secure grasps with the proposed kinematic design.

View details for DOI 10.1126/scirobotics.adi9762

View details for PubMedID 38630805
Bayesian Embeddings for Few-Shot Open World Recognition. IEEE transactions on pattern analysis and machine intelligence Willes, J., Harrison, J., Harakeh, A., Finn, C., Pavone, M., Waslander, S. L. 2024; 46 (3): 1513-1529

Abstract

As autonomous decision-making agents move from narrow operating environments to unstructured worlds, learning systems must move from a closed-world formulation to an open-world and few-shot setting in which agents continuously learn new classes from small amounts of information. This stands in stark contrast to modern machine learning systems that are typically designed with a known set of classes and a large number of examples for each class. In this work we extend embedding-based few-shot learning algorithms to the open-world recognition setting. We combine Bayesian non-parametric class priors with an embedding-based pre-training scheme to yield a highly flexible framework which we refer to as few-shot learning for open world recognition (FLOWR). We benchmark our framework on open-world extensions of the common MiniImageNet and TieredImageNet few-shot learning datasets. Our results show, compared to prior methods, strong classification accuracy performance and up to a 12% improvement in H-measure (a measure of novel class detection) from our non-parametric open-world few-shot learning scheme.

View details for DOI 10.1109/TPAMI.2022.3201541

View details for PubMedID 36063507
Interactive Joint Planning for Autonomous Vehicles IEEE ROBOTICS AND AUTOMATION LETTERS Chen, Y., Veer, S., Karkus, P., Pavone, M. 2024; 9 (2): 987-994

View details for DOI 10.1109/LRA.2023.3332474

View details for Web of Science ID 001129132400010
Risk-Averse Trajectory Optimization via Sample Average Approximation IEEE ROBOTICS AND AUTOMATION LETTERS Lew, T., Bonalli, R., Pavone, M. 2024; 9 (2): 1500-1507

View details for DOI 10.1109/LRA.2023.3331889

View details for Web of Science ID 001138708600002
A COPOSITIVE FRAMEWORK FOR ANALYSIS OF HYBRID ISING-CLASSICAL ALGORITHMS SIAM JOURNAL ON OPTIMIZATION Brown, R., Neira, D., Venturelli, D., Pavone, M. 2024; 34 (2): 1455-1489

View details for DOI 10.1137/22M1514581

View details for Web of Science ID 001207741200001
Accelerating Continuous Variable Coherent Ising Machines via Momentum Brown, R. A., Venturelli, D., Pavone, M., Neira, D., Dilkina, B. SPRINGER INTERNATIONAL PUBLISHING AG. 2024: 109-126

View details for DOI 10.1007/978-3-031-60597-0_8

View details for Web of Science ID 001283958800008
Partial-View Object View Synthesis via Filtering Inversion Sun, F., Tremblay, J., Blukis, V., Lin, K., Xu, D., Ivanovic, B., Karkus, P., Birchfield, S., Fox, D., Zhang, R., Li, Y., Wu, J., Pavone, M., Haber, N., IEEE COMPUTER SOC IEEE COMPUTER SOC. 2024: 453-463

View details for DOI 10.1109/3DV62453.2024.00105

View details for Web of Science ID 001250581700033
Dynamic Locational Marginal Emissions via Implicit Differentiation IEEE TRANSACTIONS ON POWER SYSTEMS Valenzuela, L., Degleris, A., El Gamal, A., Pavone, M., Rajagopal, R. 2024; 39 (1): 1138-1147

View details for DOI 10.1109/TPWRS.2023.3247345

View details for Web of Science ID 001136086900088
Sample-efficient safety assurances using conformal prediction INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Luo, R., Zhao, S., Kuck, J., Ivanovic, B., Savarese, S., Schmerling, E., Pavone, M. 2023

View details for DOI 10.1177/02783649231221580

View details for Web of Science ID 001126253500001
Text2Motion: from natural language instructions to feasible plans AUTONOMOUS ROBOTS Lin, K., Agia, C., Migimatsu, T., Pavone, M., Bohg, J. 2023; 47 (8): 1345-1365

View details for DOI 10.1007/s10514-023-10131-7

View details for Web of Science ID 001281797200002
The matroid team surviving orienteers problem and its variants: Constrained routing of heterogeneous teams with risky traversal INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Jorgensen, S., Pavone, M. 2023

View details for DOI 10.1177/02783649231210326

View details for Web of Science ID 001090814800001
Semantic anomaly detection with large language models AUTONOMOUS ROBOTS Elhafsi, A., Sinha, R., Agia, C., Schmerling, E., Nesnas, I. D., Pavone, M. 2023

View details for DOI 10.1007/s10514-023-10132-6

View details for Web of Science ID 001097671300001
Balancing fairness and efficiency in traffic routing via interpolated traffic assignment AUTONOMOUS AGENTS AND MULTI-AGENT SYSTEMS Jalota, D., Solovey, K., Tsao, M., Zoepf, S., Pavone, M. 2023; 37 (2)

View details for DOI 10.1007/s10458-023-09616-7

View details for Web of Science ID 001041850100001
Near-Optimal Multi-Robot Motion Planning with Finite Sampling IEEE TRANSACTIONS ON ROBOTICS Dayan, D., Solovey, K., Pavone, M., Halperin, D. 2023; 39 (5): 3422-3436

View details for DOI 10.1109/TRO.2023.3281152

View details for Web of Science ID 001098371200005
Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control IEEE TRANSACTIONS ON AUTOMATIC CONTROL Bonalli, R., Lew, T., Pavone, M. 2023; 68 (8): 4570-4585

View details for DOI 10.1109/TAC.2022.3207865

View details for Web of Science ID 001041305400006
Robust feedback motion planning via contraction theory INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Singh, S., Landry, B., Majumdar, A., Slotine, J., Pavone, M. 2023; 42 (9): 655-688

View details for DOI 10.1177/02783649231186165

View details for Web of Science ID 001058674200002
Fisher markets with linear constraints: Equilibrium properties and efficient distributed algorithms GAMES AND ECONOMIC BEHAVIOR Jalota, D., Pavone, M., Qi, Q., Ye, Y. 2023; 141: 223-260

View details for DOI 10.1016/j.geb.2023.06.007

View details for Web of Science ID 001039441900001
Control-oriented meta-learning INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Richards, S. M., Azizan, N., Slotine, J., Pavone, M. 2023

View details for DOI 10.1177/02783649231165085

View details for Web of Science ID 001006327300001
Trustworthy AI-Part II COMPUTER Mariani, R., Rossi, F., Cucchiara, R., Pavone, M., Simkin, B., Koene, A., Papenbrock, J. 2023; 56 (5): 13-16

View details for DOI 10.1109/MC.2023.3253980

View details for Web of Science ID 000982607400003
Real-Time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms IEEE ROBOTICS AND AUTOMATION LETTERS Salzmann, T., Kaufmann, E., Arrizabalaga, J., Pavone, M., Scaramuzza, D., Ryll, M. 2023; 8 (4): 2397-2404

View details for DOI 10.1109/LRA.2023.3246839

View details for Web of Science ID 000952959800014
Co-design of communication and machine inference for cloud robotics AUTONOMOUS ROBOTS Nakanoya, M., Narasimhan, S., Bhat, S., Anemogiannis, A., Datta, A., Katti, S., Chinchali, S., Pavone, M. 2023

View details for DOI 10.1007/s10514-023-10093-w

View details for Web of Science ID 000956214700001
Co-Design to Enable User-Friendly Tools to Assess the Impact of Future Mobility Solutions IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING Zardini, G., Lanzetti, N., Censi, A., Frazzoli, E., Pavone, M. 2023; 10 (2): 827-844

View details for DOI 10.1109/TNSE.2022.3223912

View details for Web of Science ID 000966994400001
Online Routing Over Parallel Networks: Deterministic Limits and Data-driven Enhancements INFORMS JOURNAL ON COMPUTING Jalota, D., Paccagnan, D., Schiffer, M., Pavone, M. 2023

View details for DOI 10.1287/ijoc.2023.1275

View details for Web of Science ID 000971333200001
Trustworthy AI-Part 1 COMPUTER Mariani, R., Rossi, F., Cucchiara, R., Pavone, M., Simkin, B., Koene, A., Papenbrock, J. 2023; 56 (2): 14-18

View details for DOI 10.1109/MC.2022.3227683

View details for Web of Science ID 000935665700006
Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots Alora, J., Cenedese, M., Schmerling, E., Haller, G., Pavone, M., IEEE IEEE. 2023: 2627-2633

View details for DOI 10.1109/ICRA48891.2023.10160418

View details for Web of Science ID 001036713002004
trajdata: A Unified Interface to Multiple Human Trajectory Datasets Ivanovic, B., Song, G., Gilitschenski, I., Pavone, 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 001229826606004
Hybrid Multi-agent Deep Reinforcement Learning for Autonomous Mobility on Demand Systems Enders, T., Harrison, J., Pavone, M., Schiffer, M., Pappas, G. J., Matni, N., Morari, M. JMLR-JOURNAL MACHINE LEARNING RESEARCH. 2023

View details for Web of Science ID 001221742900098
Multi-Predictor Fusion: Combining Learning-based and Rule-based Trajectory Predictors Veer, S., Sharma, A., Pavone, M., Tan, J., Toussaint, M., Darvish, K. JMLR-JOURNAL MACHINE LEARNING RESEARCH. 2023

View details for Web of Science ID 001221201502046
Language-Guided Traffic Simulation via Scene-Level Diffusion Zhong, Z., Rempe, D., Chen, Y., Ivanovic, B., Cao, Y., Xu, D., Pavone, M., Ray, B., Tan, J., Toussaint, M., Darvish, K. JMLR-JOURNAL MACHINE LEARNING RESEARCH. 2023

View details for Web of Science ID 001221201500007
Interpretable Trajectory Prediction for Autonomous Vehicles via Counterfactual Responsibility Hsu, K., Leung, K., Chen, Y., Fisac, J. F., Pavone, M., IEEE IEEE. 2023: 5918-5925

View details for DOI 10.1109/IROS55552.2023.10341712

View details for Web of Science ID 001136907800085
PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction Sharma, A., Veer, S., Hancock, A., Yang, H., Pavone, M., Majumdar, A., 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 001227224006030
Practical Deployment of Spectral Submanifold Reduction for Optimal Control of High-Dimensional Systems Alora, J., Cenedese, M., Schmerling, E., Haller, G., Pavone, M. ELSEVIER. 2023: 4074-4081

View details for DOI 10.1016/j.ifacol.2023.10.1734

View details for Web of Science ID 001196709200158
Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems Wu, A., Lew, T., Solovey, K., Schmerling, E., Pavone, M., Asfour, T., Billard, A., Khatib, O. SPRINGER INTERNATIONAL PUBLISHING AG. 2023: 538-554

View details for DOI 10.1007/978-3-031-25555-7_36

View details for Web of Science ID 001008380600036
Sample-Efficient Safety Assurances Using Conformal Prediction Luo, R., Zhao, S., Kuck, J., Ivanovic, B., Savarese, S., Schmerling, E., Pavone, M., LaValle, S. M., O'Kane, J. M., Otte, M., Sadigh, D., Tokekar, P. SPRINGER INTERNATIONAL PUBLISHING AG. 2023: 149-169

View details for DOI 10.1007/978-3-031-21090-7_10

View details for Web of Science ID 000978413100010
Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission Newdick, S., Chen, T. G., Hockman, B., Schmerling, E., Cutkosky, M. R., Pavone, M., IEEE IEEE. 2023

View details for DOI 10.1109/AERO55745.2023.10115893

View details for Web of Science ID 001008282004039
Data Lifecycle Management in Evolving Input Distributions for Learning-based Aerospace Applications Banerjee, S., Sharma, A., Schmerling, E., Spolaor, M., Nemerouf, M., Pavone, M., IEEE IEEE. 2023

View details for DOI 10.1109/AERO55745.2023.10115970

View details for Web of Science ID 001008282005029
Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning Ivanovic, B., Harrison, J., Pavone, M., IEEE IEEE. 2023: 7786-7793

View details for DOI 10.1109/ICRA48891.2023.10161155

View details for Web of Science ID 001048371101018
Tree-structured Policy Planning with Learned Behavior Models Chen, Y., Karkus, P., Ivanovic, B., Weng, X., Pavone, M., IEEE IEEE. 2023: 7902-7908

View details for DOI 10.1109/ICRA48891.2023.10161419

View details for Web of Science ID 001048371101034
Learning Responsibility Allocations for Safe Human-Robot Interaction with Applications to Autonomous Driving Cosner, R. K., Chen, Y., Leung, K., Pavone, M., IEEE IEEE. 2023: 9757-9763

View details for DOI 10.1109/ICRA48891.2023.10161112

View details for Web of Science ID 001048371102064
Motion Planning for a Climbing Robot with Stochastic Grasps Newdick, S., Ongole, N., Chen, T. G., Schmerling, E., Cutkosky, M. R., Pavone, M., IEEE IEEE. 2023: 11838-11844

View details for DOI 10.1109/ICRA48891.2023.10160218

View details for Web of Science ID 001048371103133
Learning Autonomous Vehicle Safety Concepts from Demonstrations Leung, K., Veer, S., Schmerling, E., Pavone, M., IEEE IEEE. 2023: 3193-3200

View details for Web of Science ID 001027160302130
FreeNeRF: Improving Few-shot Neural Rendering with Free Frequency Regularization Yang, J., Pavone, M., Wang, Y., IEEE IEEE COMPUTER SOC. 2023: 8254-8263

View details for DOI 10.1109/CVPR52729.2023.00798

View details for Web of Science ID 001062522100025
Differentially Private Stochastic Convex Optimization for Network Routing Applications Tsao, M., Gopalakrishnan, K., Yang, K., Pavone, M., IEEE IEEE. 2023: 7475-7482

View details for Web of Science ID 001166433806029
Exact Characterization of the Convex Hulls of Reachable Sets Lew, T., Bonalli, R., Pavone, M., IEEE IEEE. 2023: 52-59

View details for DOI 10.1109/CDC49753.2023.10383902

View details for Web of Science ID 001166433800008
Credit-Based Congestion Pricing: Equilibrium Properties and Optimal Scheme Design Jalota, D., Lazarus, J., Bayen, A., Pavone, M., IEEE IEEE. 2023: 4124-4129

View details for DOI 10.1109/CDC49753.2023.10384266

View details for Web of Science ID 001166433803066
Robust Nonlinear Reduced-Order Model Predictive Control Alora, J., Pabon, L. A., Kohler, J., Cenedese, M., Schmerlingl, E., Zeilinger, M. N., Haller, G., Pavone, M., IEEE IEEE. 2023: 4798-4805

View details for DOI 10.1109/CDC49753.2023.10383243

View details for Web of Science ID 001166433803151
Closing the Loop on Runtime Monitors with Fallback-Safe MPC Sinha, R., Schmerling, E., Pavone, M., IEEE IEEE. 2023: 6533-6540

View details for DOI 10.1109/CDC49753.2023.10383965

View details for Web of Science ID 001166433805057
Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles Veer, S., Leung, K., Cosner, R. K., Chen, Y., Karkus, P., Pavone, M., IEEE IEEE. 2023: 1507-1513

View details for DOI 10.1109/ICRA48891.2023.10160622

View details for Web of Science ID 001036713001047
BITS: Bi-level Imitation for Traffic Simulation Xu, D., Chen, Y., Ivanovic, B., Pavone, M., IEEE IEEE. 2023: 2929-2936

View details for DOI 10.1109/ICRA48891.2023.10161167

View details for Web of Science ID 001036713002046
Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models Christianos, F., Karkus, P., Ivanovic, B., Albrecht, S., Pavone, M., IEEE IEEE. 2023: 5558-5565

View details for DOI 10.1109/ICRA48891.2023.10160604

View details for Web of Science ID 001036713004077
Guided Conditional Diffusion for Controllable Traffic Simulation Zhong, Z., Rempe, D., Xu, D., Chen, Y., Veer, S., Che, T., Ray, B., Pavone, M., IEEE IEEE. 2023: 3560-3566

View details for DOI 10.1109/ICRA48891.2023.10161463

View details for Web of Science ID 001036713002134
Risk-Sensitive Safety Analysis Using Conditional Value-at-Risk IEEE TRANSACTIONS ON AUTOMATIC CONTROL Chapman, M. P., Bonalli, R., Smith, K. M., Yang, I., Pavone, M., Tomlin, C. J. 2022; 67 (12): 6521-6536

View details for DOI 10.1109/TAC.2021.3131149

View details for Web of Science ID 000895440500014
Linear Reduced-Order Model Predictive Control IEEE TRANSACTIONS ON AUTOMATIC CONTROL Lorenzetti, J., McClellan, A., Farhat, C., Pavone, M. 2022; 67 (11): 5980-5995

View details for DOI 10.1109/TAC.2022.3179539

View details for Web of Science ID 000873894800023
SEQUENTIAL CONVEX PROGRAMMING FOR NON-LINEAR STOCHASTIC OPTIMAL CONTROL ESAIM-CONTROL OPTIMISATION AND CALCULUS OF VARIATIONS Bonalli, R., Lew, T., Pavone, M. 2022; 28

View details for DOI 10.1051/cocv/2022060

View details for Web of Science ID 000870425200001
Safe Reinforcement Learning Using Black-Box Reachability Analysis IEEE ROBOTICS AND AUTOMATION LETTERS Selim, M., Alanwar, A., Kousik, S., Gao, G., Pavone, M., Johansson, K. H. 2022; 7 (4): 10665-10672

View details for DOI 10.1109/LRA.2022.3192205

View details for Web of Science ID 000838665800016
< Convex Optimization for Trajectory Generation: A Tutorial on Generating Dynamically Feasible Trajectories Reliably and Efficiently IEEE CONTROL SYSTEMS MAGAZINE Malyuta, D., Reynolds, T. P., Szmuk, M., Lew, T., Bonalli, R., Pavone, M., Acikmese, B. 2022; 42 (5): 40-113

View details for DOI 10.1109/MCS.2022.3187542

View details for Web of Science ID 000861424700022
A physics-based digital twin for model predictive control of autonomous unmanned aerial vehicle landing. Philosophical transactions. Series A, Mathematical, physical, and engineering sciences McClellan, A., Lorenzetti, J., Pavone, M., Farhat, C. 2022; 380 (2229): 20210204

Abstract

This paper proposes a two-level, data-driven, digital twin concept for the autonomous landing of aircraft, under some assumptions. It features a digital twin instance (DTI) for model predictive control (MPC); and an innovative, real-time, digital twin prototype for fluid-structure interaction and flight dynamics to inform it. The latter digital twin is based on the linearization about a pre-designed glideslope trajectory of a high-fidelity, viscous, nonlinear computational model for flight dynamics; and its projection onto a low-dimensional approximation subspace to achieve real-time performance, while maintaining accuracy. Its main purpose is to predict in realtime, during flight, the state of an aircraft and the aerodynamic forces and moments acting on it. Unlike static lookup tables or regression-based surrogate models based on steady-state wind tunnel data, the aforementioned real-time digital twin prototype allows the DTI for MPC to be informed by a truly dynamic flight model, rather than a less accurate set of steady-state aerodynamic force and moment data points. The paper describes in detail the construction of the proposed two-level digital twin concept and its verification by numerical simulation. It also reports on its preliminary flight validation in autonomous mode for an off-the-shelf unmanned aerial vehicle instrumented at Stanford University. This article is part of the theme issue 'Data-driven prediction in dynamical systems'.

View details for DOI 10.1098/rsta.2021.0204

View details for PubMedID 35719063
Routing and Rebalancing Intermodal Autonomous Mobility-on-Demand Systems in Mixed Traffic. IEEE transactions on intelligent transportation systems : a publication of the IEEE Intelligent Transportation Systems Council Wollenstein-Betech, S., Salazar, M., Houshmand, A., Pavone, M., Paschalidis, I. C., Cassandras, C. G. 2022; 23 (8): 12263-12275

Abstract

This paper studies congestion-aware route-planning policies for intermodal Autonomous Mobility-on-Demand (AMoD) systems, whereby a fleet of autonomous vehicles provides on-demand mobility jointly with public transit under mixed traffic conditions (consisting of AMoD and private vehicles). First, we devise a network flow model to jointly optimize the AMoD routing and rebalancing strategies in a congestion-aware fashion by accounting for the endogenous impact of AMoD flows on travel time. Second, we capture the effect of exogenous traffic stemming from private vehicles adapting to the AMoD flows in a user-centric fashion by leveraging a sequential approach. Since our results are in terms of link flows, we then provide algorithms to retrieve the explicit recommended routes to users. Finally, we showcase our framework with two case-studies considering the transportation sub-networks in Eastern Massachusetts and New York City, respectively. Our results suggest that for high levels of demand, pure AMoD travel can be detrimental due to the additional traffic stemming from its rebalancing flows. However, blending AMoD with public transit, walking and micromobility options can significantly improve the overall system performance by leveraging the high-throughput of public transit combined with the flexibility of walking and micromobility.

View details for DOI 10.1109/tits.2021.3112106

View details for PubMedID 37124136

View details for PubMedCentralID PMC10147341
Backpropagation through signal temporal logic specifications: Infusing logical structure into gradient-based methods INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Leung, K., Arechiga, N., Pavone, M. 2022

View details for DOI 10.1177/02783649221082115

View details for Web of Science ID 000802687000001
Testing Gecko-Inspired Adhesives with Astrobee Aboard the International Space Station: Readying the Technology for Space IEEE ROBOTICS & AUTOMATION MAGAZINE Chen, T. G., Cauligi, A., Suresh, S., Pavone, M., Cutkosky, M. 2022

View details for DOI 10.1109/MRA.2022.3175597

View details for Web of Science ID 000805798200001
Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation Framework IEEE TRANSACTIONS ON ROBOTICS Lew, T., Sharma, A., Harrison, J., Bylard, A., Pavone, M. 2022

View details for DOI 10.1109/TRO.2022.3154715

View details for Web of Science ID 000791719600001
Integration of Reinforcement Learning in a Virtual Robotic Surgical Simulation. Surgical innovation Bourdillon, A. T., Garg, A., Wang, H., Woo, Y. J., Pavone, M., Boyd, J. 2022: 15533506221095298

Abstract

Background. The revolutions in AI hold tremendous capacity to augment human achievements in surgery, but robust integration of deep learning algorithms with high-fidelity surgical simulation remains a challenge. We present a novel application of reinforcement learning (RL) for automating surgical maneuvers in a graphical simulation.Methods. In the Unity3D game engine, the Machine Learning-Agents package was integrated with the NVIDIA FleX particle simulator for developing autonomously behaving RL-trained scissors. Proximal Policy Optimization (PPO) was used to reward movements and desired behavior such as movement along desired trajectory and optimized cutting maneuvers along the deformable tissue-like object. Constant and proportional reward functions were tested, and TensorFlow analytics was used to informed hyperparameter tuning and evaluate performance.Results. RL-trained scissors reliably manipulated the rendered tissue that was simulated with soft-tissue properties. A desirable trajectory of the autonomously behaving scissors was achieved along 1 axis. Proportional rewards performed better compared to constant rewards. Cumulative reward and PPO metrics did not consistently improve across RL-trained scissors in the setting for movement across 2 axes (horizontal and depth).Conclusion. Game engines hold promising potential for the design and implementation of RL-based solutions to simulated surgical subtasks. Task completion was sufficiently achieved in one-dimensional movement in simulations with and without tissue-rendering. Further work is needed to optimize network architecture and parameter tuning for increasing complexity.

View details for DOI 10.1177/15533506221095298

View details for PubMedID 35503302
Online Hypergraph Matching with Delays OPERATIONS RESEARCH Pavone, M., Saberi, A., Schiffer, M., Tsao, M. 2022

View details for DOI 10.1287/opre.2022.2277

View details for Web of Science ID 000804041100001
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
Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics IEEE ROBOTICS AND AUTOMATION LETTERS Zhao, P., Lakshmanan, A., Ackerman, K., Gahlawat, A., Pavone, M., Hovakimyan, N. 2022; 7 (2): 5528-5535

View details for DOI 10.1109/LRA.2022.3153712

View details for Web of Science ID 000772417200001
Optimal Picking Policies in E-Commerce Warehouses MANAGEMENT SCIENCE Schiffer, M., Boysen, N., Klein, P. S., Laporte, G., Pavone, M. 2022

View details for DOI 10.1287/mnsc.2021.4275

View details for Web of Science ID 000827229000001
Trust but Verify: Cryptographic Data Privacy for Mobility Management IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS Tsao, M., Yang, K., Zoepf, S., Pavone, M. 2022; 9 (1): 50-61

View details for DOI 10.1109/TCNS.2022.3141027

View details for Web of Science ID 000802014900007
Analysis and Control of Autonomous Mobility-on-Demand Systems ANNUAL REVIEW OF CONTROL ROBOTICS AND AUTONOMOUS SYSTEMS Zardini, G., Lanzetti, N., Pavone, M., Frazzoli, E. 2022; 5: 633-658

View details for DOI 10.1146/annurev-control-042920-012811

View details for Web of Science ID 000795864800025
Motron: Multimodal Probabilistic Human Motion Forecasting Salzmann, T., Pavone, M., Ryll, M., IEEE COMP SOC IEEE COMPUTER SOC. 2022: 6447-6456

View details for DOI 10.1109/CVPR52688.2022.00635

View details for Web of Science ID 000867754206070
Whose Track Is It Anyway? Improving Robustness to Tracking Errors with Affinity-based Trajectory Prediction Weng, X., Ivanovic, B., Kitani, K., Pavone, M., IEEE COMP SOC IEEE COMPUTER SOC. 2022: 6563-6572

View details for DOI 10.1109/CVPR52688.2022.00646

View details for Web of Science ID 000867754206081
AdvDO: Realistic Adversarial Attacks for Trajectory Prediction Cao, Y., Xiao, C., Anandkumar, A., Xu, D., Pavone, M., Avidan, S., Brostow, G., Cisse, M., Farinella, G. M., Hassner, T. SPRINGER INTERNATIONAL PUBLISHING AG. 2022: 36-52

View details for DOI 10.1007/978-3-031-20065-6_3

View details for Web of Science ID 000898287300003
Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty Ivanovic, B., Lee, K., Tokmakov, P., Wulfe, B., McAllister, R., Gaidon, A., Pavone, M., IEEE IEEE. 2022: 12196-12203

View details for DOI 10.1109/IROS47612.2022.9982283

View details for Web of Science ID 000909405303105
ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning Chen, Y., Ivanovic, B., Pavone, M., IEEE COMP SOC IEEE COMPUTER SOC. 2022: 17082-17091

View details for DOI 10.1109/CVPR52688.2022.01659

View details for Web of Science ID 000870783002087
Private Location Sharing for Decentralized Routing Services Tsao, M., Yang, K., Gopalakrishnan, K., Pavone, M., IEEE IEEE. 2022: 2479-2486

View details for DOI 10.1109/ITSC55140.2022.9922387

View details for Web of Science ID 000934720602073
Propagating State Uncertainty Through Trajectory Forecasting Ivanovic, B., Lin, Y., Shrivastava, S., Chakravarty, P., Pavone, M., IEEE IEEE. 2022: 2351-2358

View details for DOI 10.1109/ICRA46639.2022.9811776

View details for Web of Science ID 000941265701078
Using Spectral Submanifolds for Nonlinear Periodic Control Mahlknecht, F., Alora, J., Jain, S., Schmerling, E., Bonalli, R., Haller, G., Pavone, M., IEEE IEEE. 2022: 6548-6555

View details for DOI 10.1109/CDC51059.2022.9992400

View details for Web of Science ID 000948128105081
ReachBot: A Small Robot with Exceptional Reach for Rough Terrain Chen, T. G., Miller, B., Winston, C., Schneider, S., Bylard, A., Pavone, M., Cutkosky, M. R., IEEE IEEE. 2022: 4517-4523

View details for DOI 10.1109/ICRA46639.2022.9811949

View details for Web of Science ID 000941265702104
Semi-Supervised Trajectory-Feedback Controller Synthesis for Signal Temporal Logic Specifications Leung, K., Pavone, M., IEEE IEEE. 2022: 178-185

View details for Web of Science ID 000865458700025
Adaptive Robust Model Predictive Control with Matched and Unmatched Uncertainty Sinha, R., Harrison, J., Richards, S. M., Pavone, M., IEEE IEEE. 2022: 906-913

View details for Web of Science ID 000865458700122
Injecting Planning-Awareness into Prediction and Detection Evaluation Ivanovic, B., Pavone, M., IEEE IEEE. 2022: 821-828

View details for DOI 10.1109/IV51971.2022.9827101

View details for Web of Science ID 000854106700115
MTP: Multi-hypothesis Tracking and Prediction for Reduced Error Propagation Weng, X., Ivanovic, B., Pavone, M., IEEE IEEE. 2022: 1218-1225

View details for DOI 10.1109/IV51971.2022.9827273

View details for Web of Science ID 000854106700171
A Unified View of SDP-based Neural Network Verification through Completely Positive Programming Brown, R., Schmerling, E., Azizan, N., Pavone, M., Camps-Valls, G., Ruiz, F. J., Valera JMLR-JOURNAL MACHINE LEARNING RESEARCH. 2022

View details for Web of Science ID 000841852303031
Second-Order Sensitivity Analysis for Bilevel Optimization Dyro, R., Schmerling, E., Arechiga, N., Pavone, M., Camps-Valls, G., Ruiz, F. J., Valera JMLR-JOURNAL MACHINE LEARNING RESEARCH. 2022

View details for Web of Science ID 000841852303025
Bilevel Optimization for Planning Through Contact: A Semidirect Method Landry, B., Lorenzetti, J., Manchester, Z., Pavone, M., Asfour, T., Yoshida, E., Park, J., Christensen, H., Khatib, O. SPRINGER INTERNATIONAL PUBLISHING AG. 2022: 789-804

View details for DOI 10.1007/978-3-030-95459-8_48

View details for Web of Science ID 000771723700048
Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC IEEE ROBOTICS AND AUTOMATION LETTERS Schilliger, J., Lew, T., Richards, S. M., Hanggi, S., Pavone, M., Onder, C. 2021; 6 (4): 8623-8630

View details for DOI 10.1109/LRA.2021.3111010

View details for Web of Science ID 000704109700001
Routing and Rebalancing Intermodal Autonomous Mobility-on-Demand Systems in Mixed Traffic IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS Wollenstein-Betech, S., Salazar, M., Houshmand, A., Pavone, M., Paschalidis, I., Cassandras, C. G. 2021

View details for DOI 10.1109/TITS.2021.3112106

View details for Web of Science ID 000732906600001
Network offloading policies for cloud robotics: a learning-based approach AUTONOMOUS ROBOTS Chinchali, S., Sharma, A., Harrison, J., Elhafsi, A., Kang, D., Pergament, E., Cidon, E., Katti, S., Pavone, M. 2021

View details for DOI 10.1007/s10514-021-09987-4

View details for Web of Science ID 000669285100002
On Local Computation for Network-Structured Convex Optimization in Multiagent Systems IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS Brown, R., Rossi, F., Solovey, K., Tsao, M., Wolf, M. T., Pavone, M. 2021; 8 (2): 542-554

View details for DOI 10.1109/TCNS.2021.3050129

View details for Web of Science ID 000690440800005
Multimodal Deep Generative Models for Trajectory Prediction: A Conditional Variational Autoencoder Approach IEEE ROBOTICS AND AUTOMATION LETTERS Ivanovic, B., Leung, K., Schmerling, E., Pavone, M. 2021; 6 (2): 295–302

View details for DOI 10.1109/LRA.2020.3043163

View details for Web of Science ID 000602951000001
Graph Neural Network Reinforcement Learning for Autonomous Mobility-on-Demand Systems Gammelli, D., Yang, K., Harrison, J., Rodrigues, F., Pereira, F. C., Pavone, M., IEEE IEEE. 2021: 2996-3003

View details for DOI 10.1109/CDC45484.2021.9683135

View details for Web of Science ID 000781990302107
Real-Time Control of Mixed Fleets in Mobility-on-Demand Systems Yang, K., Tsao, M. W., Xu, X., Pavone, M., IEEE IEEE. 2021: 3570-3577

View details for DOI 10.1109/ITSC48978.2021.9564770

View details for Web of Science ID 000841862503088
Joint Optimization of Autonomous Electric Vehicle Fleet Operations and Charging Station Siting 2021 IEEE International Intelligent Transportation Systems Conference (ITSC) Luke, J., Salazar, M., Rajagopal, R., Pavone, M. 2021: 3340-3347

View details for DOI 10.1109/ITSC48978.2021.9565089
Particle MPC for Uncertain and Learning-Based Control Dyro, R., Harrison, J., Sharma, A., Pavone, M., IEEE IEEE. 2021: 7127-7134

View details for DOI 10.1109/IROS51168.2021.9635967

View details for Web of Science ID 000755125505103
Efficient Large-Scale Multi-Drone Delivery using Transit Networks JOURNAL OF ARTIFICIAL INTELLIGENCE RESEARCH Choudhury, S., Solovey, K., Kochenderfer, M. J., Pavone, M. 2021; 70: 757-788

View details for Web of Science ID 000744050600011
Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems Bylard, A., Bonalli, R., Pavone, M., IEEE IEEE. 2021: 7464-7470

View details for DOI 10.1109/ICRA48506.2021.9561320

View details for Web of Science ID 000771405401023
Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions Schaefer, S., Leung, K., Ivanovic, B., Pavone, M., IEEE IEEE. 2021: 9673-9679

View details for DOI 10.1109/ICRA48506.2021.9561443

View details for Web of Science ID 000771405402109
Near-Optimal Multi-Robot Motion Planning with Finite Sampling Dayan, D., Solovey, K., Pavone, M., Halperin, D., IEEE IEEE. 2021: 9190-9196

View details for DOI 10.1109/ICRA48506.2021.9561009

View details for Web of Science ID 000771405402055
Soft Robot Optimal Control Via Reduced Order Finite Element Models Tonkens, S., Lorenzett, J., Pavone, M., IEEE IEEE. 2021: 12010-12016

View details for DOI 10.1109/ICRA48506.2021.9560999

View details for Web of Science ID 000771405404030
Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition Solovey, K., Bandyopadhyay, S., Rossi, F., Wolf, M. T., Pavone, M., IEEE IEEE. 2021: 9117-9123

View details for DOI 10.1109/ICRA48506.2021.9560880

View details for Web of Science ID 000771405402050
Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems Richards, S. M., Azizan, N., Slotine, J., Pavone, M., Shell, D. A., Toussaint, M., Hsieh, M. A. RSS FOUNDATION-ROBOTICS SCIENCE & SYSTEMS FOUNDATION. 2021

View details for Web of Science ID 000684604200056
Lyapunov-stable neural-network control Dai, H., Landry, B., Yang, L., Pavone, M., Tedrake, R., Shell, D. A., Toussaint, M., Hsieh, M. A. RSS FOUNDATION-ROBOTICS SCIENCE & SYSTEMS FOUNDATION. 2021

View details for Web of Science ID 000684604200063
Co-Design of Communication and Machine Inference for Cloud Robotics Nakanoya, M., Chinchali, S., Anemogiannis, A., Datta, A., Katti, S., Pavone, M., Shell, D. A., Toussaint, M., Hsieh, M. A. RSS FOUNDATION-ROBOTICS SCIENCE & SYSTEMS FOUNDATION. 2021

View details for Web of Science ID 000684604200046
On the Interaction between Autonomous Mobility on Demand Systems and Power Distribution Networks --- An Optimal Power Flow Approach IEEE Transactions on Control of Network Systems Estandia, A., Schiffer, M., Rossi, F., Luke, J., Kara, E. C., Rajagopal, R., Pavone, M. 2021

View details for DOI 10.1109/TCNS.2021.3059225
Soft Tensegrity Systems for Planetary Landing and Exploration Garanger, K., Krajewski, M., del Valle, I., Raheja, U., Rimoli, J. J., Rath, M., Pavone, M., Vansusante, P. J., Roberts, A. D. AMER SOC CIVIL ENGINEERS. 2021: 841-854

View details for Web of Science ID 000692156300077
Vision-based Autonomous Disinfection of High-touch Surfaces in Indoor Environments Roelofs, S., Landry, B., Jalil, M., Martin, A., Koppaka, S., Tang, S. Y., Pavone, M., IEEE IEEE. 2021: 263-270

View details for DOI 10.23919/ICCAS52745.2021.9649848

View details for Web of Science ID 000750950700031
Intermodal Autonomous Mobility-on-Demand IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS Salazar, M., Lanzetti, N., Rossi, F., Schiffer, M., Pavone, M. 2020; 21 (9): 3946–60

View details for DOI 10.1109/TITS.2019.2950720

View details for Web of Science ID 000564291100031
Learning stabilizable nonlinear dynamics with contraction-based regularization INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Singh, S., Richards, S. M., Sindhwani, V., Slotine, J. E., Pavone, M. 2020

View details for DOI 10.1177/0278364920949931

View details for Web of Science ID 000565712200001
On infusing reachability-based safety assurance within planning frameworks for human-robot vehicle interactions INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Leung, K., Schmerling, E., Zhang, M., Chen, M., Talbot, J., Gerdes, J., Pavone, M. 2020

View details for DOI 10.1177/0278364920950795

View details for Web of Science ID 000563027000001
Collision-Inclusive Trajectory Optimization for Free-Flying Spacecraft JOURNAL OF GUIDANCE CONTROL AND DYNAMICS Mote, M., Egerstedt, M., Feron, E., Bylard, A., Pavone, M. 2020; 43 (7): 1247–58

View details for DOI 10.2514/1.G004788

View details for Web of Science ID 000542959700003
On the Interaction Between Autonomous Mobility-on-Demand Systems and the Power Network: Models and Coordination Algorithms IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS Rossi, F., Iglesias, R., Alizadeh, M., Pavone, M. 2020; 7 (1): 384–97

View details for DOI 10.1109/TCNS.2019.2923384

View details for Web of Science ID 000521969000035
A Vehicle Coordination and Charge Scheduling Algorithm for Electric Autonomous Mobility-on-Demand Systems Boewing, F., Schiffer, M., Salazar, M., Pavone, M., IEEE IEEE. 2020: 248–55

View details for Web of Science ID 000618079800036
On Infusing Reachability-Based Safety Assurance Within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions Leung, K., Schmerling, E., Chen, M., Talbot, J., Gerdes, J., Pavone, M., Xiao, J., Kroger, T., Khatib, O. SPRINGER INTERNATIONAL PUBLISHING AG. 2020: 561-574

View details for DOI 10.1007/978-3-030-33950-0_48

View details for Web of Science ID 000656149800048
Efficient Large-Scale Multi-Drone Delivery Using Transit Networks Choudhury, S., Solovey, K., Kochenderfer, M. J., Pavone, M., IEEE IEEE. 2020: 4543-4550

View details for Web of Science ID 000712319503028
Sample Complexity of Probabilistic Roadmaps via c -nets Tsao, M., Solovey, K., Pavone, M., IEEE IEEE. 2020: 2196-2202

View details for Web of Science ID 000712319501088
Map-Predictive Motion Planning in Unknown Environments Elhafsi, A., Ivanovic, B., Janson, L., Pavone, M., IEEE IEEE. 2020: 8552-8558

View details for Web of Science ID 000712319505082
Shapeshifter: A Multi-Agent, Multi-Modal Robotic Platform for Exploration of Titan Tagliabue, A., Schneider, S., Pavone, M., Agha-mohammadi, A., IEEE IEEE. 2020

View details for Web of Science ID 000681699104063
Learning-based Warm-Starting for Fast Sequential Convex Programming and Trajectory Optimization Banerjee, S., Lew, T., Bonalli, R., Alfaadhel, A., Alomar, I., Shageer, H. M., Pavone, M., IEEE IEEE. 2020

View details for Web of Science ID 000681699100038
Revisiting the Asymptotic Optimality of RRT Solovey, K., Janson, L., Schmerling, E., Frazzoli, E., Pavone, M., IEEE IEEE. 2020: 2189-2195

View details for Web of Science ID 000712319501087
Counter-example guided synthesis of neural network Lyapunov functions for piecewise linear systems Dai, H., Landry, B., Pavone, M., Tedrake, R., IEEE IEEE. 2020: 1274-1281

View details for Web of Science ID 000717663401022
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
Error Bounds for Reduced Order Model Predictive Control Lorenzetti, J., Pavone, M., IEEE IEEE. 2020: 2521-2528

View details for Web of Science ID 000717663402010
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
On the Co-Design of AV-Enabled Mobility Systems Zardini, G., Lanzetti, N., Salazar, M., Censi, A., Frazzoli, E., Pavone, M., IEEE IEEE. 2020

View details for Web of Science ID 000682770702004
Congestion-aware Routing and Rebalancing of Autonomous Mobility-on-Demand Systems in Mixed Traffic Wollenstein-Betech, S., Houshmand, A., Salazar, M., Pavone, M., Cassandras, C. G., Paschalidis, I., IEEE IEEE. 2020

View details for Web of Science ID 000682770700083
Interpretable Policies from Formally-Specified Temporal Properties DeCastro, J., Leung, K., Arechiga, N., Pavone, M., IEEE IEEE. 2020

View details for Web of Science ID 000682770701104
Infusing Reachability-Based Safety into Planning and Control for Multi-agent Interactions Wang, X., Leung, K., Pavone, M., IEEE IEEE. 2020: 6252-6259

View details for DOI 10.1109/IROS45743.2020.9341499

View details for Web of Science ID 000714033803128
Stochastic Motion Planning for Hopping Rovers on Small Solar System Bodies Hockman, B., Pavone, M., Amato, N. M., Hager, G., Thomas, S., TorresTorriti, M. SPRINGER INTERNATIONAL PUBLISHING AG. 2020: 877–93

View details for DOI 10.1007/978-3-030-28619-4_60

View details for Web of Science ID 000632686200060
How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics Majumdar, A., Pavone, M., Amato, N. M., Hager, G., Thomas, S., TorresTorriti, M. SPRINGER INTERNATIONAL PUBLISHING AG. 2020: 75–84

View details for DOI 10.1007/978-3-030-28619-4_10

View details for Web of Science ID 000632686200010
Multi-objective Optimal Control for Proactive Decision Making with Temporal Logic Models Chinchali, S. P., Livingston, S. C., Pavone, M., Amato, N. M., Hager, G., Thomas, S., TorresTorriti, M. SPRINGER INTERNATIONAL PUBLISHING AG. 2020: 127–44

View details for DOI 10.1007/978-3-030-28619-4_16

View details for Web of Science ID 000632686200016
Perception-Aware Motion Planning via Multiobjective Search on GPUs Ichter, B., Landry, B., Schmerling, E., Pavone, M., Amato, N. M., Hager, G., Thomas, S., TorresTorriti, M. SPRINGER INTERNATIONAL PUBLISHING AG. 2020: 895–912

View details for DOI 10.1007/978-3-030-28619-4_61

View details for Web of Science ID 000632686200061
ADAPT: Zero-Shot Adaptive Policy Transfer for Stochastic Dynamical Systems Harrison, J., Garg, A., Ivanovic, B., Zhu, Y., Savarese, S., Li Fei-Fei, Pavone, M., Amato, N. M., Hager, G., Thomas, S., TorresTorriti, M. SPRINGER INTERNATIONAL PUBLISHING AG. 2020: 437–53

View details for DOI 10.1007/978-3-030-28619-4_34

View details for Web of Science ID 000632686200034
Joint Design and Control of Electric Vehicle Propulsion Systems Verbruggen, F., Salazar, M., Pavone, M., Hofman, T., IEEE IEEE. 2020: 1725–31

View details for Web of Science ID 000613138000299
Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization Lew, T., Bonalli, R., Pavone, M., IEEE IEEE. 2020: 1871–78

View details for Web of Science ID 000613138000323
A Simple and Efficient Tube-based Robust Output Feedback Model Predictive Control Scheme Lorenzetti, J., Pavone, M., IEEE IEEE. 2020: 1775–82

View details for Web of Science ID 000613138000307
Exploiting Locality and Structure for Distributed Optimization in Multi-Agent Systems Brown, R., Rossi, F., Solovey, K., Wolf, M. T., Pavone, M., IEEE IEEE. 2020: 440–47

View details for Web of Science ID 000613138000080
Multi-objective optimal control for proactive decision making with temporal logic models INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Chinchali, S. P., Livingston, S. C., Chen, M., Pavone, M. 2019

View details for DOI 10.1177/0278364919868290

View details for Web of Science ID 000483843800001
A Framework for Time-Consistent, Risk-Sensitive Model Predictive Control: Theory and Algorithms IEEE TRANSACTIONS ON AUTOMATIC CONTROL Singh, S., Chow, Y., Majumdar, A., Pavone, M. 2019; 64 (7): 2905–12

View details for DOI 10.1109/TAC.2018.2874704

View details for Web of Science ID 000473489700021
Robot Motion Planning in Learned Latent Spaces IEEE ROBOTICS AND AUTOMATION LETTERS Ichter, B., Pavone, M. 2019; 4 (3): 2407–14

View details for DOI 10.1109/LRA.2019.2901898

View details for Web of Science ID 000463476700003
A real-time framework for kinodynamic planning in dynamic environments with application to quadrotor obstacle avoidance ROBOTICS AND AUTONOMOUS SYSTEMS Allen, R. E., Pavone, M. 2019; 115: 174–93

View details for DOI 10.1016/j.robot.2018.11.017

View details for Web of Science ID 000463129000015
A BCMP network approach to modeling and controlling autonomous mobility-on-demand systems INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Iglesias, R., Rossi, F., Zhang, R., Pavone, M. 2019; 38 (2-3): 357–74

View details for DOI 10.1177/0278364918780335

View details for Web of Science ID 000460099500014
Backpropagation for Parametric STL Leung, K., Arechiga, N., Pavone, M., IEEE IEEE. 2019: 185–92

View details for Web of Science ID 000508184100031
A Risk-Sensitive Finite-Time Reachability Approach for Safety of Stochastic Dynamic Systems Chapman, M. P., Lacotte, J., Tamar, A., Lee, D., Smith, K. M., Cheng, V., Fisac, J. F., Jha, S., Pavone, M., Tomlin, C. J., IEEE IEEE. 2019: 2958-2963

View details for Web of Science ID 000589452903004
Optimal Routing and Energy Management Strategies for Plug-in Hybrid Electric Vehicles Salazar, M., Houshmand, A., Cassandras, C. G., Pavone, M., IEEE IEEE. 2019: 733–39

View details for Web of Science ID 000521238100117
A Model Predictive Control Scheme for Intermodal Autonomous Mobility-on-Demand Zgraggen, J., Tsao, M., Salazar, M., Schiffer, M., Pavone, M., IEEE IEEE. 2019: 1953–60

View details for Web of Science ID 000521238102005
Perception-Constrained Robot Manipulator Planning for Satellite Servicing Zahroof, T., Bylard, A., Shageer, H., Pavone, M., IEEE IEEE. 2019

View details for Web of Science ID 000481648200029
The Trajectron: Probabilistic Multi-Agent Trajectory Modeling With Dynamic Spatiotemporal Graphs Ivanovic, B., Pavone, M., IEEE IEEE COMPUTER SOC. 2019: 2375–84

View details for DOI 10.1109/ICCV.2019.00246

View details for Web of Science ID 000531438102051
Reduced Order Model Predictive Control For Setpoint Tracking Lorenzetti, J., Landry, B., Singh, S., Pavone, M., IEEE IEEE. 2019: 299–306

View details for Web of Science ID 000490488300049
A Congestion-aware Routing Scheme for Autonomous Mobility-on-Demand Systems Salazar, M., Tsao, M., Aguiar, I., Schiffer, M., Pavone, M., IEEE IEEE. 2019: 3040–46

View details for Web of Science ID 000490488303012
Risk-Sensitive Generative Adversarial Imitation Learning Lacotte, J., Ghavamzadeh, M., Chow, Y., Pavone, M., Chaudhuri, K., Sugiyama, M. MICROTOME PUBLISHING. 2019

View details for Web of Science ID 000509687902021
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach Bonalli, R., Bylard, A., Cauligi, A., Lew, T., Pavone, M., Bicchi, A., KressGazit, H., Hutchinson, S. MIT PRESS. 2019

View details for Web of Science ID 000570976800077
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization Landry, B., Manchester, Z., Pavone, M., Bicchi, A., KressGazit, H., Hutchinson, S. MIT PRESS. 2019

View details for Web of Science ID 000570976800012
Network Offloading Policies for Cloud Robotics: a Learning-based Approach Chinchali, S., Sharma, A., Harrison, J., Elhafsi, A., Kang, D., Pergament, E., Cidon, E., Katti, S., Pavone, M., Bicchi, A., KressGazit, H., Hutchinson, S. MIT PRESS. 2019

View details for Web of Science ID 000570976800062
High-Dimensional Optimization in Adaptive Random Subspaces Lacotte, J., Pilanci, M., Pavone, M., Wallach, H., Larochelle, H., Beygelzimer, A., d'Alche-Buc, F., Fox, E., Garnett, R. NEURAL INFORMATION PROCESSING SYSTEMS (NIPS). 2019

View details for Web of Science ID 000535866902047
BaRC: Backward Reachability Curriculum for Robotic Reinforcement Learning Ivanovic, B., Harrison, J., Sharma, A., Chen, M., Pavone, M., IEEE, Howard, A., Althoefer, K., Arai, F., Arrichiello, F., Caputo, B., Castellanos, J., Hauser, K., Isler, Kim, J., Liu, H., Oh, P., Santos, Scaramuzza, D., Ude, A., Voyles, R., Yamane, K., Okamura, A. IEEE. 2019: 15–21

View details for Web of Science ID 000494942300003
Model Predictive Control of Ride-sharing Autonomous Mobility-on-Demand Systems Tsao, M., Milojevic, D., Ruch, C., Salazar, M., Frazzoli, E., Pavone, M., IEEE, Howard, A., Althoefer, K., Arai, F., Arrichiello, F., Caputo, B., Castellanos, J., Hauser, K., Isler, Kim, J., Liu, H., Oh, P., Santos, Scaramuzza, D., Ude, A., Voyles, R., Yamane, K., Okamura, A. IEEE. 2019: 6665–71

View details for Web of Science ID 000494942304131
GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming Bonalli, R., Cauligi, A., Bylard, A., Pavone, M., IEEE, Howard, A., Althoefer, K., Arai, F., Arrichiello, F., Caputo, B., Castellanos, J., Hauser, K., Isler, Kim, J., Liu, H., Oh, P., Santos, Scaramuzza, D., Ude, A., Voyles, R., Yamane, K., Okamura, A. IEEE. 2019: 6741–47

View details for Web of Science ID 000494942304142
Beyond The Force: Using Quadcopters to Appropriate Objects and the Environment for Haptics in Virtual Reality Abtahi, P., Landry, B., Yang, J., Pavone, M., Follmer, S., Landay, J. A., Assoc Comp Machinery ASSOC COMPUTING MACHINERY. 2019

View details for DOI 10.1145/3290605.3300589

View details for Web of Science ID 000474467904051
Risk-sensitive inverse reinforcement learning via semi- and non-parametric methods INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Singh, S., Lacotte, J., Majumdar, A., Pavone, M. 2018; 37 (13-14): 1713–40

View details for DOI 10.1177/0278364918772017

View details for Web of Science ID 000456536600011
Routing autonomous vehicles in congested transportation networks: structural properties and coordination algorithms Rossi, F., Zhang, R., Hindy, Y., Pavone, M. SPRINGER. 2018: 1427–42

View details for DOI 10.1007/s10514-018-9750-5

View details for Web of Science ID 000440585000009
The Team Surviving Orienteers problem: routing teams of robots in uncertain environments with survival constraints AUTONOMOUS ROBOTS Jorgensen, S., Chen, R. H., Milam, M. B., Pavone, M. 2018; 42 (4): 927–52

View details for DOI 10.1007/s10514-017-9694-1

View details for Web of Science ID 000427378300013
Deterministic sampling-based motion planning: Optimality, complexity, and performance INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Janson, L., Ichter, B., Pavone, M. 2018; 37 (1): 46–61

View details for DOI 10.1177/0278364917714338

View details for Web of Science ID 000423752800004
On the interaction between Autonomous Mobility-on-Demand systems and the power network: models and coordination algorithms Rossi, F., Iglesias, R., Alizadeh, M., Pavone, M., KressGazit, H., Srinivasa, S., Howard, T., Atanasov, N. MIT PRESS. 2018

View details for Web of Science ID 000570976700037
Safe Motion Planning in Unknown Environments: Optimality Benchmarks and Tractable Policies Janson, L., Hu, T., Pavone, M., KressGazit, H., Srinivasa, S., Howard, T., Atanasov, N. MIT PRESS. 2018

View details for Web of Science ID 000570976700061
Cellular Network Traffic Scheduling with Deep Reinforcement Learning Chinchali, S., Hu, P., Chu, T., Sharma, M., Bansal, M., Misra, R., Pavone, M., Katti, S., AAAI ASSOC ADVANCEMENT ARTIFICIAL INTELLIGENCE. 2018: 766–74

View details for Web of Science ID 000485488900094
Reach-Avoid Games Via Mixed-Integer Second-Order Cone Programming Lorenzetti, J., Chen, M., Landry, B., Pavone, M., IEEE IEEE. 2018: 4409–16

View details for Web of Science ID 000458114804015
Stochastic Model Predictive Control for Autonomous Mobility on Demand Tsao, M., Iglesias, R., Pavone, M., IEEE IEEE. 2018: 3941–48

View details for Web of Science ID 000457881303144
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
Learning Sampling Distributions for Robot Motion Planning Ichter, B., Harrison, J., Pavone, M., IEEE IEEE COMPUTER SOC. 2018: 7087–94

View details for Web of Science ID 000446394505057
Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction Schmerling, E., Leung, K., Vollprecht, W., Pavone, M., IEEE IEEE COMPUTER SOC. 2018: 3399–3406

View details for Web of Science ID 000446394502090
Data-Driven Model Predictive Control of Autonomous Mobility-on-Demand Systems Iglesias, R., Rossi, F., Wang, K., Hallac, D., Leskovec, J., Pavone, M., IEEE IEEE COMPUTER SOC. 2018: 6019–25

View details for Web of Science ID 000446394504080
Reach-Avoid Problems via Sum-of-Squares Optimization and Dynamic Programming Landry, B., Chen, M., Hemley, S., Pavone, 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: 4325–32

View details for Web of Science ID 000458872704003
Generative Modeling of Multimodal Multi-Human Behavior Ivanovic, B., Schmerling, E., Leung, K., Pavone, 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: 3088–95

View details for Web of Science ID 000458872702132
Gravimetric Localization on the Surface of Small Bodies Hockman, B., Reid, R. G., Nesnas, I. D., Pavone, M., IEEE IEEE. 2018

View details for Web of Science ID 000474397402036
Deterministic Sampling-Based Motion Planning: Optimality, Complexity, and Performance Janson, L., Ichter, B., Pavone, M., Bicchi, A., Burgard, W. SPRINGER INTERNATIONAL PUBLISHING AG. 2018: 507–25

View details for DOI 10.1007/978-3-319-60916-4_29

View details for Web of Science ID 000446974000029
Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty Janson, L., Schmerling, E., Pavone, M., Bicchi, A., Burgard, W. SPRINGER INTERNATIONAL PUBLISHING AG. 2018: 343–61

View details for DOI 10.1007/978-3-319-60916-4_20

View details for Web of Science ID 000446974000020
Risk-Constrained Reinforcement Learning with Percentile Risk Criteria JOURNAL OF MACHINE LEARNING RESEARCH Chow, Y., Ghavamzadeh, M., Janson, L., Pavone, M. 2018; 18

View details for Web of Science ID 000433256300001
Fast, Safe, Propellant-Efficient Spacecraft Motion Planning Under Clohessy-Wiltshire-Hill Dynamics JOURNAL OF GUIDANCE CONTROL AND DYNAMICS Starek, J. A., Schmerling, E., Maher, G. D., Barbee, B. W., Pavone, M. 2017; 40 (2): 418-438

View details for DOI 10.2514/1.G001913

View details for Web of Science ID 000395514600018
Design, Control, and Experimentation of Internally-Actuated Rovers for the Exploration of Low-gravity Planetary Bodies JOURNAL OF FIELD ROBOTICS Hockman, B. J., Frick, A., Reid, R. G., Nesnas, I. A., Pavone, M. 2017; 34 (1): 5-24

View details for DOI 10.1002/rob.21656

View details for Web of Science ID 000393671700002
The Team Surviving Orienteers Problem: Routing Robots in Uncertain Environments with Survival Constraints Jorgensen, S., Chen, R. H., Milam, M. B., Pavone, M., IEEE IEEE. 2017: 227-234

View details for DOI 10.1109/IRC.2017.49

View details for Web of Science ID 000411203500037
Group Marching Tree: Sampling-Based Approximately Optimal Motion Planning on GPUs Ichter, B., Schmerling, E., Pavone, M., IEEE IEEE. 2017: 219-226

View details for DOI 10.1109/IRC.2017.72

View details for Web of Science ID 000411203500036
Robust Capture and Deorbit of Rocket Body Debris Using Controllable Dry Adhesion Bylard, A., MacPherson, R., Hockman, B., Cutkosky, M. R., Pavone, M., IEEE IEEE. 2017

View details for Web of Science ID 000405199503030
Evaluating Trajectory Collision Probability through Adaptive Importance Sampling for Safe Motion Planning Schmerling, E., Pavone, M., Amato, N., Srinivasa, S., Ayanian, N., Kuindersma, S. MIT PRESS. 2017

View details for Web of Science ID 000570976600068
Risk-sensitive Inverse Reinforcement Learning via Coherent Risk Models Majumdar, A., Singh, S., Mandlekar, A., Pavone, M., Amato, N., Srinivasa, S., Ayanian, N., Kuindersma, S. MIT PRESS. 2017

View details for Web of Science ID 000570976600069
Low Cost, High Endurance, Altitude-Controlled Latex Balloon for Near-Space Research (ValBal) Sushko, A., Tedjarati, A., Creus-Costa, J., Maldonado, S., Marshland, K., Pavone, M., IEEE IEEE. 2017

View details for Web of Science ID 000405199504002
Experimental Methods for Mobility and Surface Operations of Microgravity Robots Hockman, B., Reid, R. G., Nesnas, I. D., Pavone, M., Kulic, D., Nakamura, Y., Khatib, O., Venture, G. SPRINGER INTERNATIONAL PUBLISHING AG. 2017: 752–63

View details for DOI 10.1007/978-3-319-50115-4_65

View details for Web of Science ID 000418796400065
Extreme Engineering: Extreme Autonomy in Space and Air, on Land, and Under Water Jackson, D., Pavone, M., Natl Acad Engn NATL ACADEMIES PRESS. 2017: 31–32

View details for Web of Science ID 000431842000006
The Matroid Team Surviving Orienteers Problem: Constrained Routing of Heterogeneous Teams with Risky Traversal Jorgensen, S., Chen, R. H., Milam, M. B., Pavone, M., Bicchi, A., Okamura, A. IEEE. 2017: 5622–29

View details for Web of Science ID 000426978205044
The Risk-Sensitive Coverage Problem: Multi-Robot Routing Under Uncertainty with Service Level and Survival Constraints Jorgensen, S., Chen, R. H., Milam, M. B., Pavone, M., IEEE IEEE. 2017

View details for Web of Science ID 000424696900144
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
Control of robotic mobility-on-demand systems: A queueing-theoretical perspective INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Zhang, R., Pavone, M. 2016; 35 (1-3): 186-203

View details for DOI 10.1177/0278364915581863

View details for Web of Science ID 000368032600011
Free-Flyer Acquisition of Spinning Objects with Gecko-Inspired Adhesives Estrada, M. A., Hockman, B., Bylard, A., Hawkes, E. W., Cutkosky, M. R., Pavone, 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: 4907-4913

View details for Web of Science ID 000389516204032
Model Predictive Control of Autonomous Mobility-on-Demand Systems Zhang, R., Rossi, F., Pavone, 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: 1382-1389

View details for Web of Science ID 000389516201035
Simultaneous Model Identification and Task Satisfaction in the Presence of Temporal Logic Constraints Chinchali, S. P., Livingston, S. C., Pavone, M., Burdick, J. W., 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: 3682-3689

View details for Web of Science ID 000389516203030
Risk Aversion in Finite Markov Decision Processes Using Total Cost Criteria and Average Value at Risk Carpin, S., Chow, Y., Pavone, 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: 335-342

View details for Web of Science ID 000389516200043
Spacecraft Autonomy Challenges for Next-Generation Space Missions Starek, J. A., Acikmese, B., Nesnas, I. A., Pavone, M., Feron, E. SPRINGER-VERLAG BERLIN. 2016: 1-48

View details for DOI 10.1007/978-3-662-47694-9_1

View details for Web of Science ID 000385237300001
Fast Marching Trees: A Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions Janson, L., Pavone, M., Inaba, M., Corke, P. SPRINGER-VERLAG BERLIN. 2016: 667-684

View details for DOI 10.1007/978-3-319-28872-7_38

View details for Web of Science ID 000386325300038
Real-Time, Propellant-Optimized Spacecraft Motion Planning under Clohessy-Wiltshire-Hill Dynamics Starek, J. A., Schmerling, E., Maher, G. D., Barbee, B. W., Pavone, M., IEEE IEEE. 2016

View details for Web of Science ID 000388374902020
Routing Autonomous Vehicles in Congested Transportation Networks: Structural Properties and Coordination Algorithms Zhang, R., Rossi, F., Pavone, M., Hsu, D., Amato, N., Berman, S., Jacobs, S. MIT PRESS. 2016

View details for Web of Science ID 000570976500032
Autonomous Calibration of MEMS Disk Resonating Gyroscope for Improved Sensor Performance Flader, I. B., Ahn, C. H., Gerrard, D. D., Ng, E. J., Yang, Y., Hong, V. A., Pavone, M., Kenny, T. W., IEEE IEEE. 2016: 5803–10

View details for Web of Science ID 000388376105138
Chance-constrained dynamic programming with application to risk-aware robotic space exploration AUTONOMOUS ROBOTS Ono, M., Pavone, M., Kuwata, Y., Balaram, J. 2015; 39 (4): 555-571

View details for DOI 10.1007/s10514-015-9467-7

View details for Web of Science ID 000362960600007
Guest Editorial: Special issue on constrained decision-making in robotics AUTONOMOUS ROBOTS Pavone, M., Carpin, S. 2015; 39 (4): 465-467

View details for DOI 10.1007/s10514-015-9489-1

View details for Web of Science ID 000362960600001
Optimal Sampling-Based Motion Planning under Differential Constraints: the Drift Case with Linear Affine Dynamics. Proceedings of the ... IEEE Conference on Decision & Control. IEEE Conference on Decision & Control Schmerling, E., Janson, L., Pavone, M. 2015; 2015: 2574-2581

Abstract

In this paper we provide a thorough, rigorous theoretical framework to assess optimality guarantees of sampling-based algorithms for drift control systems: systems that, loosely speaking, can not stop instantaneously due to momentum. We exploit this framework to design and analyze a sampling-based algorithm (the Differential Fast Marching Tree algorithm) that is asymptotically optimal, that is, it is guaranteed to converge, as the number of samples increases, to an optimal solution. In addition, our approach allows us to provide concrete bounds on the rate of this convergence. The focus of this paper is on mixed time/control energy cost functions and on linear affine dynamical systems, which encompass a range of models of interest to applications (e.g., double-integrators) and represent a necessary step to design, via successive linearization, sampling-based and provably-correct algorithms for non-linear drift control systems. Our analysis relies on an original perturbation analysis for two-point boundary value problems, which could be of independent interest.

View details for PubMedID 26997749
Fast marching tree: A fast marching sampling-based method for optimal motion planning in many dimensions INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Janson, L., Schmerling, E., Clark, A., Pavone, M. 2015; 34 (7): 883-921

Abstract

In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional configuration spaces. This algorithm is proven to be asymptotically optimal and is shown to converge to an optimal solution faster than its state-of-the-art counterparts, chiefly PRM* and RRT*. The FMT* algorithm performs a "lazy" dynamic programming recursion on a predetermined number of probabilistically-drawn samples to grow a tree of paths, which moves steadily outward in cost-to-arrive space. As such, this algorithm combines features of both single-query algorithms (chiefly RRT) and multiple-query algorithms (chiefly PRM), and is reminiscent of the Fast Marching Method for the solution of Eikonal equations. As a departure from previous analysis approaches that are based on the notion of almost sure convergence, the FMT* algorithm is analyzed under the notion of convergence in probability: the extra mathematical flexibility of this approach allows for convergence rate bounds-the first in the field of optimal sampling-based motion planning. Specifically, for a certain selection of tuning parameters and configuration spaces, we obtain a convergence rate bound of order O(n-1/d+ρ), where n is the number of sampled points, d is the dimension of the configuration space, and ρ is an arbitrarily small constant. We go on to demonstrate asymptotic optimality for a number of variations on FMT*, namely when the configuration space is sampled non-uniformly, when the cost is not arc length, and when connections are made based on the number of nearest neighbors instead of a fixed connection radius. Numerical experiments over a range of dimensions and obstacle configurations confirm our the-oretical and heuristic arguments by showing that FMT*, for a given execution time, returns substantially better solutions than either PRM* or RRT*, especially in high-dimensional configuration spaces and in scenarios where collision-checking is expensive.

View details for DOI 10.1177/0278364915577958

View details for Web of Science ID 000355612400004

View details for PubMedCentralID PMC4798023
Fast Marching Tree: a Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions. The International journal of robotics research Janson, L., Schmerling, E., Clark, A., Pavone, M. 2015; 34 (7): 883-921

Abstract

In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional configuration spaces. This algorithm is proven to be asymptotically optimal and is shown to converge to an optimal solution faster than its state-of-the-art counterparts, chiefly PRM* and RRT*. The FMT* algorithm performs a "lazy" dynamic programming recursion on a predetermined number of probabilistically-drawn samples to grow a tree of paths, which moves steadily outward in cost-to-arrive space. As such, this algorithm combines features of both single-query algorithms (chiefly RRT) and multiple-query algorithms (chiefly PRM), and is reminiscent of the Fast Marching Method for the solution of Eikonal equations. As a departure from previous analysis approaches that are based on the notion of almost sure convergence, the FMT* algorithm is analyzed under the notion of convergence in probability: the extra mathematical flexibility of this approach allows for convergence rate bounds-the first in the field of optimal sampling-based motion planning. Specifically, for a certain selection of tuning parameters and configuration spaces, we obtain a convergence rate bound of order O(n-1/d+ρ), where n is the number of sampled points, d is the dimension of the configuration space, and ρ is an arbitrarily small constant. We go on to demonstrate asymptotic optimality for a number of variations on FMT*, namely when the configuration space is sampled non-uniformly, when the cost is not arc length, and when connections are made based on the number of nearest neighbors instead of a fixed connection radius. Numerical experiments over a range of dimensions and obstacle configurations confirm our the-oretical and heuristic arguments by showing that FMT*, for a given execution time, returns substantially better solutions than either PRM* or RRT*, especially in high-dimensional configuration spaces and in scenarios where collision-checking is expensive.

View details for DOI 10.1177/0278364915577958

View details for PubMedID 27003958

View details for PubMedCentralID PMC4798023
Trading Safety Versus Performance: Rapid Deployment of Robotic Swarms With Robust Performance Constraints JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Chow, Y., Pavone, M., Sadler, B. M., Carpin, S. 2015; 137 (3)

View details for DOI 10.1115/1.4028117

View details for Web of Science ID 000349754500007
Optimal Sampling-Based Motion Planning under Differential Constraints: the Driftless Case. IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Schmerling, E. n., Janson, L. n., Pavone, M. n. 2015; 2015: 2368–75

Abstract

Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the problem is still open in many aspects, including guarantees on the quality of the obtained solution. In this paper we provide a thorough theoretical framework to assess optimality guarantees of sampling-based algorithms for planning under differential constraints. We exploit this framework to design and analyze two novel sampling-based algorithms that are guaranteed to converge, as the number of samples increases, to an optimal solution (namely, the Differential Probabilistic RoadMap algorithm and the Differential Fast Marching Tree algorithm). Our focus is on driftless control-affine dynamical models, which accurately model a large class of robotic systems. In this paper we use the notion of convergence in probability (as opposed to convergence almost surely): the extra mathematical flexibility of this approach yields convergence rate bounds - a first in the field of optimal sampling-based motion planning under differential constraints. Numerical experiments corroborating our theoretical results are presented and discussed.

View details for PubMedID 26618041

View details for PubMedCentralID PMC4659485
Toward a Real-Time Framework for Solving the Kinodynamic Motion Planning Problem Allen, R., Pavone, M., IEEE IEEE COMPUTER SOC. 2015: 928-934

View details for Web of Science ID 000370974900134
Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks - a Contraction Theory Approach Singh, S., Schmerling, E., Pavone, M., IEEE IEEE COMPUTER SOC. 2015: 1274-1281

View details for Web of Science ID 000370974901041
A Queueing Network Approach to the Analysis and Control of Mobility-On-Demand Systems Zhang, R., Pavone, M., IEEE IEEE. 2015: 4702-4709

View details for Web of Science ID 000370259204132
Models, Algorithms, and Evaluation for Autonomous Mobility-On-Demand Systems Zhang, R., Spieser, K., Frazzoli, E., Pavone, M., IEEE IEEE. 2015: 2573-2587

View details for Web of Science ID 000370259202110
A SAMPLING-BASED APPROACH TO SPACECRAFT AUTONOMOUS MANEUVERING WITH SAFETY SPECIFICATIONS Starek, J. A., Barbee, B., Pavone, M., Gravseth, I. J. UNIVELT INC. 2015: 725-737

View details for Web of Science ID 000371649600054
A Convex Optimization Approach to Smooth Trajectories for Motion Planning with Car-Like Robots Zhu, Z., Schmerling, E., Pavone, M., IEEE IEEE. 2015: 835-842

View details for Web of Science ID 000381554501022
Risk-Sensitive and Robust Decision-Making: a CVaR Optimization Approach Chow, Y., Tamar, A., Mannor, S., Pavone, M., Cortes, C., Lawrence, N. D., Lee, D. D., Sugiyama, M., Garnett, R. NEURAL INFORMATION PROCESSING SYSTEMS (NIPS). 2015

View details for Web of Science ID 000450913103052
A Unifying Framework for Time-Consistent, Risk-Averse Model Predictive Control: Theory and Algorithms Chow, Y., L., Pavone, M. 2014
A Dynamical Characterization of Internally-Actuated Microgravity Mobility Systems Koenig, A. W., Pavone, M., Castillo-Rogez, J. C., Nesnas, I. D., IEEE IEEE. 2014: 6618-6624

View details for Web of Science ID 000377221106099
Rapid Multirobot Deployment with Time Constraints Carpin, S., Pavone, M., Sadler, B. M., IEEE IEEE. 2014: 1147-1154

View details for Web of Science ID 000349834601036
Distributed consensus with mixed time/communication bandwidth performance metrics Rossi, F., Pavone, M., IEEE IEEE. 2014: 286-293

View details for Web of Science ID 000380426900042
On the Fundamental Limitations of Performance for Distributed Decision-Making in Robotic Networks Rossi, F., Pavone, M., IEEE IEEE. 2014: 2433-2440

View details for Web of Science ID 000370073802093
A Machine Learning Approach for Real-Time Reachability Analysis IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Allen, R. E., Clark, A. A., Starek, J. A., Pavone, M. IEEE. 2014: 2202–2208

View details for Web of Science ID 000349834602048
A Framework for Time-Consistent, Risk-Averse Model Predictive Control: Theory and Algorithms American Control Conference Chow, Y., Pavone, M. IEEE. 2014: 4204–4211

View details for Web of Science ID 000346492604129
Toward a Systematic Approach to the Design and Evaluation of Automated Mobility-on-Demand Systems: A Case Study in Singapore 2nd Annual Workshop on Road Vehicle Automation Spieser, K., Treleaven, K., Zhang, R., Frazzoli, E., Morton, D., Pavone, M. SPRINGER INT PUBLISHING AG. 2014: 229–245

View details for DOI 10.1007/978-3-319-05990-7_20

View details for Web of Science ID 000345580200020
Asymptotically Optimal Algorithms for One-to-One Pickup and Delivery Problems With Applications to Transportation Systems IEEE TRANSACTIONS ON AUTOMATIC CONTROL Treleaven, K., Pavone, M., Frazzoli, E. 2013; 58 (9): 2261-2276

View details for DOI 10.1109/TAC.2013.2259993

View details for Web of Science ID 000323568500009
Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies IEEE Aerospace Conference Pavone, M., Castillo-Rogez, J. C., Nesnas, I. A., Hoffman, J. A., Strange, N. J. IEEE. 2013

View details for Web of Science ID 000320123902023
A Uniform-Grid Discretization Algorithm for Stochastic Optimal Control with Risk Constraints Chow, Y., Pavone, M., IEEE IEEE. 2013: 2470-2475

View details for Web of Science ID 000352223502129
Decentralized decision-making on robotic networks with hybrid performance metrics 51st Annual Allerton Conference on Communication, Control, and Computing Rossi, F., Pavone, M. IEEE. 2013: 358–365

View details for Web of Science ID 000350802400050
Internally-Actuated Rovers for All-Access Surface Mobility: Theory and Experimentation IEEE International Conference on Robotics and Automation (ICRA) Allen, R., Pavone, M., McQuin, C., Nesnas, I. A., Castillo-Rogez, J. C., Tam-Nguyen Nguyen, T. N., Hoffman, J. A. IEEE. 2013: 5481–5488

View details for Web of Science ID 000337617305075
Internally-Actuated Rovers for All-Access Surface Mobility: Theory and Experimentation Allen, R., Pavone, M., McQuin, C., Nesnas, I., Castillo, J., Nguyen, T., N. 2013
Guidance, Navigation, and Control Technology Assessment for Future Planetary Science Missions. Technical Report for Planetary Science Division, Science Mission Directorate, NASA Quadrelli, M., McHenry, M., Wilcox, B., Hall, J., Volpe, R., Nesnas, I., Pavone, M. 2013
Decentralized decision-making on robotic networks with hybrid performance metrics Rossi, F., Pavone, M. 2013
A Uniform-grid Discretization Algorithm for Stochastic Optimal Control with Risk Constraints Chow, Y., L., Pavone, M. 2013
Asymptotically Optimal Algorithms for Pickup and Delivery Problems with Application to Large-Scale Transportation Systems IEEE Transactions on Automatic Control Treleaven, K., Pavone, M., Frazzoli, E. 2013
Rebalancing the Rebalancers: Optimally Routing Vehicles and Drivers in Mobility-on-Demand Systems Smith, S., L., Pavone, M., Schwager, M., Frazzol, E., Rus, D. 2013
Stochastic Optimal Control With Dynamic, Time-Consistent Risk Constraints Chow, Y., L., Pavone, M. 2013
Stochastic Optimal Control With Dynamic, Time-Consistent Risk Constraints American Control Conference (ACC) Chow, Y., Pavone, M. IEEE. 2013: 390–395

View details for Web of Science ID 000327210200065
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
Robotic load balancing for mobility-on-demand systems INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Pavone, M., Smith, S. L., Frazzoli, E., Rus, D. 2012; 31 (7): 839-854

View details for DOI 10.1177/0278364912444766

View details for Web of Science ID 000304699300004
Cost Bounds for Pickup and Delivery Problems with Application to Large-Scale Transportation Systems American Control Conference (ACC) Treleaven, K., Pavone, M., Frazzoli, E. IEEE COMPUTER SOC. 2012: 2120–2127

View details for Web of Science ID 000310776202068
Models and Asymptotically Optimal Algorithms for Pickup and Delivery Problems on Roadmaps Treleaven, K., Pavone, M., Frazzoli, E. 2012
Observational Strategies for the Exploration of Small Solar System Bodies Castillo, M., Pavone, M., Nesnas, I., Hoffman, J. 2012
A Risk-Constrained Multi-Stage Decision Making Approach to the Architectural Analysis of Mars Missions Kuwata, Y., Pavone, M., Balaram, J. 2012
Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies. Final Report for NASA NIAC 2011 Program. Pavone, M., Castillo, J., Hoffman, J., Nesnas, I. 2012
A Risk-Constrained Multi-Stage Decision Making Approach to the Architectural Analysis of Planetary Missions 51st IEEE Annual Conference on Decision and Control (CDC) Kuwata, Y., Pavone, M., Balaram, J. (. IEEE. 2012: 2102–2109

View details for Web of Science ID 000327200402078
Models and Efficient Algorithms for Pickup and Delivery Problems on Roadmaps 51st IEEE Annual Conference on Decision and Control (CDC) Treleaven, K., Pavone, M., Frazzoli, E. IEEE. 2012: 5691–5698

View details for Web of Science ID 000327200405158
Dynamic Vehicle Routing for Robotic Systems PROCEEDINGS OF THE IEEE Bullo, F., Frazzoli, E., Pavone, M., Savla, K., Smith, S. L. 2011; 99 (9): 1482-1504

View details for DOI 10.1109/JPROC.2011.2158181

View details for Web of Science ID 000294126300004
Distributed Algorithms for Environment Partitioning in Mobile Robotic Networks IEEE TRANSACTIONS ON AUTOMATIC CONTROL Pavone, M., Arsie, A., Frazzoli, E., Bullo, F. 2011; 56 (8): 1834-1848

View details for DOI 10.1109/TAC.2011.2112410

View details for Web of Science ID 000293750600007
Adaptive and Distributed Algorithms for Vehicle Routing in a Stochastic and Dynamic Environment IEEE TRANSACTIONS ON AUTOMATIC CONTROL Pavone, M., Frazzoli, E., Bullo, F. 2011; 56 (6): 1259-1274

View details for DOI 10.1109/TAC.2010.2092850

View details for Web of Science ID 000291430200003
An Asymptotically Optimal Algorithm for Pickup and Delivery Problems 50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC) Treleaven, K., Pavone, M., Frazzoli, E. IEEE. 2011: 584–590

View details for Web of Science ID 000303506201029
Load Balancing for Mobility-on-Demand Systems Pavone, M., Smith, S., L., Frazzoli, E., Rus, D. 2011
Distributed Control of Spacecraft Formations via Cyclic Pursuit: Theory and Experiments JOURNAL OF GUIDANCE CONTROL AND DYNAMICS Ramirez-Riberos, J. L., Pavone, M., Frazzoli, E., Mille, D. W. 2010; 33 (5): 1655-1669

View details for DOI 10.2514/1.46511

View details for Web of Science ID 000282073600030
DYNAMIC VEHICLE ROUTING WITH PRIORITY CLASSES OF STOCHASTIC DEMANDS SIAM JOURNAL ON CONTROL AND OPTIMIZATION Smith, S. L., Pavone, M., Bullo, F., Frazzoli, E. 2010; 48 (5): 3224-3245

View details for DOI 10.1137/090749347

View details for Web of Science ID 000277585500002
Fundamental Performance Limits and Efficient Policies for Transportation-On-Demand Systems Pavone, M., Treleaven, K., Frazzoli, E. 2010
Dynamic Vehicle Routing with Stochastic Time Constraints IEEE International Conference on Robotics and Automation (ICRA) Pavone, M., Frazzoli, E. IEEE. 2010: 1460–1467

View details for Web of Science ID 000284150000098
Fundamental Performance Limits and Efficient Polices for Transportation-On-Demand Systems 49th IEEE Conference on Decision and Control (CDC) Pavone, M., Treleaven, K., Frazzoli, E. IEEE. 2010: 5622–5629

View details for Web of Science ID 000295049106063
A Stochastic and Dynamic Vehicle Routing Problem with Time Windows and Customer Impatience 1st International Conference on Robot Communication and Coordination (ROBOCOMM 2007) Pavone, M., Bisnik, N., Frazzoli, E., Isler, V. SPRINGER. 2009: 350–64

View details for DOI 10.1007/s11036-008-0101-1

View details for Web of Science ID 000265045000008
Sharing the Load Mobile Robotic Networks in Dynamic Environments IEEE ROBOTICS & AUTOMATION MAGAZINE Pavone, M., Savla, K., Frazzoli, E. 2009; 16 (2): 52-61

View details for DOI 10.1109/MRA.2009.932528

View details for Web of Science ID 000267126600009
Equitable Partitioning Policies for Robotic Networks IEEE International Conference on Robotics and Automation Pavone, M., Arsie, A., Frazzoli, E., Bullo, F. IEEE. 2009: 3979–3984

View details for Web of Science ID 000276080402023
Sharing the load IEEE Robotics & Automation Magazine Pavone, M., Savla, K., Frazzoli, E. 2009; 16 (2): 52-61
Distributed Control of Spacecraft Formation via Cyclic Pursuit: Theory and Experiments American Control Conference 2009 Ramirez, J. L., Pavone, M., Frazzoli, E., Miller, D. W. IEEE. 2009: 4811–4817

View details for Web of Science ID 000270044902138
Dynamic Multi-Vehicle Routing with Multiple Classes of Demands American Control Conference 2009 Pavone, M., Smith, S. L., Bullo, F., Frazzoli, E. IEEE. 2009: 604–609

View details for Web of Science ID 000270044900099
Distributed Policies for Equitable Partitioning: Theory and Applications 47th IEEE Conference on Decision and Control Pavone, M., Frazzoli, E., Bullo, F. IEEE. 2008: 4191–4197

View details for Web of Science ID 000307311604052
Dynamic vehicle routing with heterogeneous demands Smith, S., L., Pavone, M., Bullo, F., Frazzoli, E. 2008
Decentralized policies for geometric pattern formation and path coverage JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Pavone, M., Frazzoli, E. 2007; 129 (5): 633-643

View details for DOI 10.1115/1.2767658

View details for Web of Science ID 000249705300007
Decentralized policies for geometric pattern formation 26th American Control Conference Pavone, M., Frazzoli, E. IEEE. 2007: 5823–5828

View details for Web of Science ID 000252258804102
Decentralized algorithms for stochastic and dynamic vehicle routing with general demand distribution Pavone, M., Frazzoli, E., Bullo, F. 2007
Decentralized Vehicle Routing in a Stochastic and Dynamic Environment with Customer Impatience Pavone, M., N., B., Frazzoli, E., Isler, V. 2007
Climbing Obstacle in Bio-robots via CNN and Adaptive Attitude Control International Journal of Circuit Theory and Applications Pavone, M., Arena, P., Fortuna, L., Frasca, M., Patanè, L. 2006; 34 (1): 109-125
An innovative mechanical and control architecture for a biomimetic hexapod for planetary exploration Space Technology Pavone, M., Arena, P., Patanè, L. 2006; 26 (1-2): 13-24
Realization of a CNN-Driven Cockroach-Inspired Robot Arena, P., Fortuna, L., Frasca, M., Patanè, L. 2006
Towards autonomous adaptive behavior in a bio-inspired CNN-controlled robot Arena, P., Fortuna, L., Frasca, M., Patanè, L., Pavone, M. 2006
An innovative mechanical and control architecture for a biomimetic hexapod for planetary exploration Pavone, M., Arena, P., Patanè, L. 2005
Climbing Obstacles via Bio-Inspired CNN-CPG and Adaptive Attitude Control Arena, P., Fortuna, L., Frasca, M., Patanè, L., Pavone, M. 2005
An Asymptotically-Optimal Sampling-Based Algorithm for Bi-directional Motion Planning. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Starek, J. A., Gomez, J. V., Schmerling, E. n., Janson, L. n., Moreno, L. n., Pavone, M. n. ; 2015: 2072–78

Abstract

Bi-directional search is a widely used strategy to increase the success and convergence rates of sampling-based motion planning algorithms. Yet, few results are available that merge both bi-directional search and asymptotic optimality into existing optimal planners, such as PRM*, RRT*, and FMT*. The objective of this paper is to fill this gap. Specifically, this paper presents a bi-directional, sampling-based, asymptotically-optimal algorithm named Bi-directional FMT* (BFMT*) that extends the Fast Marching Tree (FMT*) algorithm to bidirectional search while preserving its key properties, chiefly lazy search and asymptotic optimality through convergence in probability. BFMT* performs a two-source, lazy dynamic programming recursion over a set of randomly-drawn samples, correspondingly generating two search trees: one in cost-to-come space from the initial configuration and another in cost-to-go space from the goal configuration. Numerical experiments illustrate the advantages of BFMT* over its unidirectional counterpart, as well as a number of other state-of-the-art planners.

View details for PubMedID 27004130

View details for PubMedCentralID PMC4797999

Marco Pavone

Associate Professor of Aeronautics and Astronautics and, by courtesy, of Electrical Engineering and of Computer Science

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