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Journal Articles

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2024
[j4]
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Bogdan I. Vlahov, Jason Gibson, David D. Fan, Patrick Spieler, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou:
Low Frequency Sampling in Model Predictive Path Integral Control. IEEE Robotics Autom. Lett. 9(5): 4543-4550 (2024)
2022
[j3]
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Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Thomas Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hovhannes Melikyan, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick:
NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. Field Robotics 2(1): 1432-1506 (2022)
[j2]
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David D. Fan, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou:
Learning Risk-Aware Costmaps for Traversability in Challenging Environments. IEEE Robotics Autom. Lett. 7(1): 279-286 (2022)
2021
[j1]
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Kaivalya Bakshi, David D. Fan, Evangelos A. Theodorou:
Schrödinger Approach to Optimal Control of Large-Size Populations. IEEE Trans. Autom. Control. 66(5): 2372-2378 (2021)

Conference and Workshop Papers

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2024
[c17]
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Samuel Triest, David D. Fan, Sebastian Scherer, Ali-Akbar Agha-Mohammadi:
UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments. ICRA 2024: 12627-12634
2023
[c16]
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Jason Gibson, Bogdan I. Vlahov, David D. Fan, Patrick Spieler, Daniel Pastor, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou:
A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments. ICRA 2023: 7959-7965
2022
[c15]
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Nitish Dashora, Daniel Shin, Dhruv Shah, Henry A. Leopold, David D. Fan, Ali-Akbar Agha-Mohammadi, Nicholas Rhinehart, Sergey Levine:
Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments. ICRA 2022: 4452-4458
[c14]
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Sharmita Dey, David D. Fan, Robin Schmid, Anushri Dixit, Kyohei Otsu, Thomas Touma, Arndt F. Schilling, Ali-Akbar Agha-Mohammadi:
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains. IROS 2022: 4338-4343
2021
[c13]
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Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra, David D. Fan, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi:
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments. ICAPS 2021: 652-662
[c12]
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David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-akbar Agha-mohammadi:
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation. Robotics: Science and Systems 2021
2020
[c11]
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David D. Fan, Jennifer Nguyen, Rohan Thakker, Nikhilesh Alatur, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou:
Bayesian Learning-Based Adaptive Control for Safety Critical Systems. ICRA 2020: 4093-4099
[c10]
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  - conf/iros/BoumanGAPFTPKOB20
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Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma, Torkom Pailevanian, Sung-Kyun Kim, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi:
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion. IROS 2020: 2518-2525
[c9]
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Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-akbar Agha-mohammadi:
Autonomous Off-Road Navigation over Extreme Terrains with Perceptually-Challenging Conditions. ISER 2020: 161-173
[c8]
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David D. Fan, Ali Agha, Evangelos A. Theodorou:
Deep Learning Tubes for Tube MPC. Robotics: Science and Systems 2020
2019
[c7]
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David D. Fan, Rohan Thakker, Tara Bartlett, Meriem Ben Miled, Leon Kim, Evangelos A. Theodorou, Ali-akbar Agha-mohammadi:
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments. IROS 2019: 3070-3077
[c6]
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  - conf/isrr/Santamaria-Navarro19
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Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-akbar Agha-mohammadi:
Towards Resilient Autonomous Navigation of Drones. ISRR 2019: 922-937
[c5]
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  - conf/isrr/LewEFBSTA19
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Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-akbar Agha-mohammadi:
Contact Inertial Odometry: Collisions are your Friends. ISRR 2019: 938-958
2018
[c4]
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  - conf/ssci/FanTR18
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David D. Fan, Evangelos A. Theodorou, John Reeder:
Model-Based Stochastic Search for Large Scale Optimization of Multi-Agent UAV Swarms. SSCI 2018: 2216-2222
2017
[c3]
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Kaivalya S. Bakshi, David D. Fan, Evangelos A. Theodorou:
Stochastic control of systems with control multiplicative noise using second order FBSDEs. ACC 2017: 424-431
[c2]
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David D. Fan, Evangelos A. Theodorou, John Reeder:
Evolving cost functions for model predictive control of multi-agent UAV combat swarms. GECCO (Companion) 2017: 55-56
2016
[c1]
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David D. Fan, Evangelos A. Theodorou:
Differential Dynamic Programming for time-delayed systems. CDC 2016: 573-579

Informal and Other Publications

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2024
[i22]
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  - journals/corr/abs-2401-17191
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Muhammad Fadhil Ginting, David D. Fan, Sung-Kyun Kim, Mykel J. Kochenderfer, Ali-akbar Agha-mohammadi:
Semantic Belief Behavior Graph: Enabling Autonomous Robot Inspection in Unknown Environments. CoRR abs/2401.17191 (2024)
[i21]
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  - journals/corr/abs-2404-03094
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Bogdan I. Vlahov, Jason Gibson, David D. Fan, Patrick Spieler, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou:
Low Frequency Sampling in Model Predictive Path Integral Control. CoRR abs/2404.03094 (2024)
[i20]
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  - journals/corr/abs-2405-09822
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Muhammad Fadhil Ginting, Sung-Kyun Kim, David D. Fan, Matteo Palieri, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi:
SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks. CoRR abs/2405.09822 (2024)
[i19]
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  - journals/corr/abs-2407-08720
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Samuel Triest, David D. Fan, Sebastian A. Scherer, Ali-Akbar Agha-Mohammadi:
UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments. CoRR abs/2407.08720 (2024)
2023
[i18]
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  - journals/corr/abs-2303-01614
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Anushri Dixit, David D. Fan, Kyohei Otsu, Sharmita Dey, Ali-Akbar Agha-Mohammadi, Joel W. Burdick:
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge. CoRR abs/2303.01614 (2023)
[i17]
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  - journals/corr/abs-2305-02241
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Jason Gibson, Bogdan I. Vlahov, David D. Fan, Patrick Spieler, Daniel Pastor, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou:
A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments. CoRR abs/2305.02241 (2023)
2022
[i16]
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  - journals/corr/abs-2208-00322
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Sharmita Dey, David D. Fan, Robin Schmid, Anushri Dixit, Kyohei Otsu, Thomas Touma, Arndt F. Schilling, Ali-akbar Agha-mohammadi:
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains. CoRR abs/2208.00322 (2022)
2021
[i15]
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  - journals/corr/abs-2101-11110
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Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-akbar Agha-mohammadi:
Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions. CoRR abs/2101.11110 (2021)
[i14]
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  - journals/corr/abs-2102-05633
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Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra, David D. Fan, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi:
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments. CoRR abs/2102.05633 (2021)
[i13]
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  - journals/corr/abs-2103-02828
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David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-Akbar Agha-Mohammadi:
STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation. CoRR abs/2103.02828 (2021)
[i12]
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  - journals/corr/abs-2103-11470
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Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Thomas Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick:
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. CoRR abs/2103.11470 (2021)
[i11]
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  - journals/corr/abs-2107-11722
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David D. Fan, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou:
Learning Risk-aware Costmaps for Traversability in Challenging Environments. CoRR abs/2107.11722 (2021)
[i10]
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  - journals/corr/abs-2111-10948
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Nitish Dashora, Daniel Shin, Dhruv Shah, Henry A. Leopold, David D. Fan, Ali-Akbar Agha-Mohammadi, Nicholas Rhinehart, Sergey Levine:
Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments. CoRR abs/2111.10948 (2021)
2020
[i9]
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  - journals/corr/abs-2002-01587
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David D. Fan, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou:
Deep Learning Tubes for Tube MPC. CoRR abs/2002.01587 (2020)
[i8]
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  - journals/corr/abs-2008-09679
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Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-akbar Agha-mohammadi:
Towards Resilient Autonomous Navigation of Drones. CoRR abs/2008.09679 (2020)
[i7]
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  - journals/corr/abs-2009-05631
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David D. Fan, Rohan Thakker, Tara Bartlett, Meriem Ben Miled, Leon Kim, Evangelos A. Theodorou, Ali-akbar Agha-mohammadi:
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments. CoRR abs/2009.05631 (2020)
[i6]
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  - journals/corr/abs-2010-09259
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Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma, Torkom Pailevanian, Sung-Kyun Kim, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi:
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion. CoRR abs/2010.09259 (2020)
2019
[i5]
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  - journals/corr/abs-1909-00079
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Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-akbar Agha-mohammadi:
Contact Inertial Odometry: Collisions are your Friend. CoRR abs/1909.00079 (2019)
[i4]
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  - journals/corr/abs-1910-02325
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David D. Fan, Jennifer Nguyen, Rohan Thakker, Nikhilesh Alatur, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou:
Bayesian Learning-Based Adaptive Control for Safety Critical Systems. CoRR abs/1910.02325 (2019)
2018
[i3]
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  - journals/corr/abs-1802-05803
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Marcus Pereira, David D. Fan, Gabriel Nakajima An, Evangelos A. Theodorou:
MPC-Inspired Neural Network Policies for Sequential Decision Making. CoRR abs/1802.05803 (2018)
[i2]
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  - journals/corr/abs-1803-01106
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David D. Fan, Evangelos A. Theodorou, John Reeder:
Model-Based Stochastic Search for Large Scale Optimization of Multi-Agent UAV Swarms. CoRR abs/1803.01106 (2018)
2017
[i1]
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  - journals/corr/FanT17
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David D. Fan, Evangelos A. Theodorou:
Differential Dynamic Programming for time-delayed systems. CoRR abs/1701.01882 (2017)

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