2026
  1. Phys2Real: Fusing VLM Priors with Interactive Online Adaptation for Uncertainty-Aware Sim-to-Real Manipulation
    Maggie Wang, Stephen Tian, Aiden Swann, Ola Shorinwa, Jiajun Wu, Mac Schwager
    IEEE International Conference on Robotics and Automation (ICRA), 2026
    #reinforcement learning #manipulation #uncertainty quantification
  2. SINGER: An Onboard Generalist Vision-Language Navigation Policy for Drones
    Maximilian Adang, JunEn Low, Ola Shorinwa, Mac Schwager
    IEEE International Conference on Robotics and Automation (ICRA), 2026
    #imitation learning #Gaussian Splatting #VLA
  3. \pi, But Make It Fly: Physics-Guided Transfer of VLA Models to Aerial Manipulation
    Johnathan Tucker, Denis Liu, Aiden Swann, Allen Ren, Javier Yu, Jiankai Sun, Brandon Kim, Lachlain McGranahan, Quan Vuong, Mac Schwager
    arXiv, 2026
    #Vision-Language-Action Model #Cross-Embodiment Transfer #Unmanned Aerial Manipulators (UAMs)
  4. VISTA: Open-Vocabulary, Task-Relevant Robot Exploration With Online Semantic Gaussian Splatting
    Keiko Nagami, Timothy Chen, Javier Yu, Ola Shorinwa, Maximilian Adang, Carlyn Dougherty, Eric Cristofalo, Mac Schwager
    IEEE Robotics and Automation Letters, 2026
    #mapping #semantic search #next best view
  5. SketchPlan: Diffusion Based Drone Planning From Human Sketches
    Sixten Norelius, Aaron O Feldman, Mac Schwager
    IEEE Robotics and Automation Letters, 2026
    #planning #machine learning #Gaussian Splatting
  6. Coverage Optimization for Camera View Selection
    Timothy Chen, Adam Dai, Maximilian Adang, Grace Gao, Mac Schwager
    Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026
    #uncertainty quantification #computer vision #3D reconstruction
  7. Rethinking the Primitives: Next Generation LLM Architecture
    Jiankai Sun, Chuanyang Zheng, others
    https://web.stanford.edu/ jksun/blog/llm-architecture.html, 2026
    #machine learning #LLM #reasoning
  8. Understanding the Mixture-of-Experts with Nadaraya-Watson Kernel
    Chuanyang Zheng, Jiankai Sun, Yihang Gao, Enze Xie, Yuehao Wang, Peihao Wang, Ting Xu, Chang Matthew, Liliang Ren, Jingyao Li, Jing Xiong, Kashif Rasul, Mac Schwager, Anderson Schneider, Zhangyang Wang, Yuriy Nevmyvaka
    The Fourteenth International Conference on Learning Representations (ICLR), 2026
    #machine learning #LLM #reasoning
2025
  1. Reachable Polyhedral Marching (RPM): An Exact Analysis Tool for Deep-Learned Control Systems
    Joseph A. Vincent, Mac Schwager
    IEEE Transactions on Neural Networks and Learning Systems, 2025
    #reachability #machine learning #safety
    pdf
  2. GRaD-Nav: Efficiently Learning Visual Drone Navigation with Gaussian Radiance Fields and Differentiable Dynamics
    Qianzhong Chen, Jiankai Sun, Naixiang Gao, JunEn Low, Timothy Chen, Mac Schwager
    arXiv, 2025
    #aerial #Gaussian Splatting #planning
  3. Learning Robot Safety from Sparse Human Feedback using Conformal Prediction
    Aaron Feldman, Joseph Vincent, Maximilian Adang, JunEn Low, Mac Schwager
    arXiv, 2025
    #safety #uncertainty quantification #robot learning
  4. HAMMER: Heterogeneous, Multi-Robot Semantic Gaussian Splatting
    Javier Yu, Timothy Chen, Mac Schwager
    IEEE Robotics and Automation Letters, 2025
    #multi-robot #mapping #Gaussian Splatting
  5. A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps
    Timothy Chen, Aiden Swann, Javier Yu, Ola Shorinwa, Riku Murai, Monroe Kennedy, Mac Schwager
    2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
    #safety #Gaussian Splating #control
  6. Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps
    Timothy Chen, Ola Shorinwa, Joseph Bruno, Aiden Swann, Javier Yu, Weijia Zeng, Keiko Nagami, Philip Dames, Mac Schwager
    IEEE Transactions on Robotics, 2025
    #safety #state estimation #Gaussian Splatting
  7. Grad-nav++: Vision-language model enabled visual drone navigation with gaussian radiance fields and differentiable dynamics
    Qianzhong Chen, Naixiang Gao, Suning Huang, JunEn Low, Timothy Chen, Jiankai Sun, Mac Schwager
    IEEE Robotics and Automation Letters, 2025
    #Reinforcement learning #vision-based navigation #aerial systems: perception and autonomy
  8. SARM: Stage-Aware Reward Modeling for Long Horizon Robot Manipulation
    Qianzhong Chen, Justin Yu, Mac Schwager, Pieter Abbeel, Yide Shentu, Philipp Wu
    arXiv preprint arXiv:2509.25358, 2025
    #Imitation Learning #Reward Modeling #Robotics Manipulation
  9. Semantic-Metric Bayesian Risk Fields: Learning Robot Safety from Human Videos with a VLM Prior
    Timothy Chen, Marcus Dominguez-Kuhne, Aiden Swann, Xu Liu, Mac Schwager
    arXiv, 2025
    #safety #computer vision
  10. Conformal Safety Monitoring for Flight Testing: A Case Study in Data-Driven Safety Learning
    Aaron O. Feldman, D. Isaiah Harp, Mac Schwager, Joseph Duncan
    ICRA 2025 Workshop on Robot safety under uncertainty from “intangible” specifications, 2025
    #statistics #uncertainty quantification #safety
  11. SAS: Simulated Attention Score
    Chuanyang Zheng, Jiankai Sun, Yihang Gao, Yuehao Wang, Peihao Wang, Jing Xiong, Liliang Ren, Hao Cheng, Janardhan Kulkarni, Yelong Shen, others
    The Thirty-Ninth Annual Conference on Neural Information Processing Systems (NeurIPS), 2025
    #LLM #reasoning #architecture
2024
  1. Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
    Ola Shorinwa, Johnathan Tucker, Aliyah Smith, Aiden Swann, Timothy Chen, Roya Firoozi, Monroe Kennedy III, Mac Schwager
    8th Annual Conference on Robot Learning, 2024
    #Gaussian Splatting #manipulation #computer vision
    pdf
  2. Online Path Repair: Adapting to Robot Failures in Multi-Robot Aerial Surveys
    Jaden Clark, Kunal Shah, Mac Schwager
    IEEE Robotics and Automation Letters, 2024
    #multi-robot #aerial #planning
  3. SOUS VIDE: Cooking Visual Drone Navigation Policies in a Gaussian Splatting Vacuum
    JunEn Low, Maximilian Adang, Javier Yu, Keiko Nagami, Mac Schwager
    arXiv, 2024
    #Gaussian Splatting #aerial #imitation learning
  4. CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes
    Timothy Chen, Preston Culbertson, Mac Schwager
    IEEE Transactions on Robotics, 2024
    #NeRF #planning #safety
    pdf
  5. Distributed Optimization Methods for Multi-Robot Systems: Part II — A Survey
    Ola Shorinwa, Trevor Halsted, Javier Yu, Mac Schwager
    IEEE Robotics & Automation Magazine, 2024
    #multi-robot #optimization
    pdf
  6. Distributed Optimization Methods for Multi-Robot Systems: Part I — A Tutorial
    Ola Shorinwa, Trevor Halsted, Javier Yu, Mac Schwager
    IEEE Robotics & Automation Magazine, 2024
    #multi-robot #optimization
    pdf
  7. Fast Contact-Implicit Model-Predictive Control
    Simon Le Cleac’h, Taylor A. Howell, Mac Schwager, Zachary Manchester
    Transactions on Robotics, 2024
    #control #optimization
    pdf
  8. Guarantees on Robot System Performance Using Stochastic Simulation Rollouts
    Joseph A. Vincent, Aaron O. Feldman, Mac Schwager
    IEEE Transactions on Robotics, 2024
    #safety #uncertainty quantification #Statistics
    pdf
  9. How Generalizable Is My Behavior Cloning Policy? A Statistical Evaluation Approach to Trustworthy Performance Evaluation
    Joseph A. Vincent, Haruki Nishimura, Masha Itkina, Paarth Shah, Mac Schwager, Thomas Kollar
    IEEE Robotics and Automation Letters, 2024
    #imitation learning #Statistics
    pdf
  10. State Estimation and Belief Space Planning under Epistemic Uncertainty for Learning-Based Perception Systems
    Keiko Nagami, Mac Schwager
    IEEE Robotics and Automation Letters, 2024
    #state estimation #uncertainty quantification #planning
  11. Touch-gs: Visual-tactile supervised 3d gaussian splatting
    Aiden Swann, Matthew Strong, Won Kyung Do, Gadiel Sznaier Camps, Mac Schwager, Monroe Kennedy
    2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
    #Gaussian Splatting #3D reconstruction #manipulation
  12. Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly
    Jiankai Sun, Aidan Curtis, Yang You, Yan Xu, Michael Koehle, Leonidas Guibas, Sachin Chitta, Mac Schwager, Hui Li
    arXiv preprint arXiv:2409.16451, 2024
    #machine learning #planning
2023
  1. GrAVITree: Graph-based Approximate Value Function In a Tree
    Patrick Washington, David Fridovich-Keil, Mac Schwager
    2023 American Controls Conference, 2023
    #planning #control #machine learning
    pdf
  2. Conformal Prediction for Uncertainty-Aware Planning with Diffusion Dynamics Model
    Jiankai Sun, Yiqi Jiang, Jianing Qiu, Parth Talpur Nobel, Mykel Kochenderfer, Mac Schwager
    Thirty-seventh Conference on Neural Information Processing Systems (NeurIPS 2023), 2023
    #uncertainty quantification #planning #machine learning
    pdf
  3. Constrained Control of Large Graph-based MDPs Under Measurement Uncertainty
    Ravi N. Haksar, Mac Schwager
    IEEE Transactions on Automatic Control, 2023
    #control #optimization #state estimation
    pdf
  4. Maximum-Entropy Multi-Agent Dynamic Games: Forward and Inverse Solutions
    Negar Mehr, Mingyu Wang, Maulik Bhatt, Mac Schwager
    IEEE Transactions on Robotics, 2023
    #game theory #autonomous vehicle #planning
    pdf
  5. Distributed Target Tracking in Multi-Agent Networks via Sequential Quadratic Alternating Direction Method of Multipliers
    Ola Shorinwa, Mac Schwager
    2023 American Control Conference (ACC), 2023
    #multi-robot #optimization #state estimation
    pdf
  6. Distributed Multirobot Task Assignment via Consensus ADMM
    Ola Shorinwa, Ravi N. Haksar, Patrick Washington, Mac Schwager
    IEEE Transactions on Robotics, 2023
    #multi-robot #optimization #planning
  7. Distributed Model Predictive Control via Separable Optimization in Multi-Agent Networks
    Ola Shorinwa, Mac Schwager
    IEEE Transactions on Automatic Control, 2023
    #multi-robot #control #optimization
  8. Differentiable physics simulation of dynamics-augmented neural objects
    Simon Le Cleac’h, Hong-Xing Yu, Michelle Guo, Taylor Howell, Ruohan Gao, Jiajun Wu, Zachary Manchester, Mac Schwager
    IEEE Robotics and Automation Letters, 2023
    #simulation #machine learning #3D reconstruction
    pdf
  9. Intention Communication and Hypothesis Likelihood in Game-Theoretic Motion Planning
    Makram Chahine, Roya Firoozi, Wei Xiao, Mac Schwager, Daniela Rus
    IEEE Robotics and Automation Letters, 2023
    #game theory #autonomous vehicle #planning
    pdf
  10. NeRF-Loc: Transformer-Based Object Localization Within Neural Radiance Fields
    Jiankai Sun, Yan Xu, Mingyu Ding, Hongwei Yi, Chen Wang, Jingdong Wang, Liangjun Zhang, Mac Schwager
    IEEE Robotics and Automation Letters (RA-L), 2023
    #NeRF #computer vision #localization
    pdf
  11. Connected Autonomous Vehicle Motion Planning with Video Predictions from Smart, Self-Supervised Infrastructure
    Jiankai Sun, Shreyas Kousik, David Fridovich-Keil, Mac Schwager
    IEEE International Conference on Intelligent Transportation Systems (ITSC 2023), 2023
    #autonomous vehicle #planning #computer vision
    pdf
2022
  1. Dojo: A Differentiable Simulator for Robotics
    Taylor A. Howell, Simon Le Cleac’h, Jan Brüdigam, Qianzhong Chen, Jiankai Sun, J. Zico Kolter, Mac Schwager, Zachary Manchester
    arXiv, 2022
    #simulation #control #optimization
    pdf
  2. Multi-Robot Assembly Scheduling for the Lunar Crater Radio Telescope on the Far-Side of the Moon
    Preston Culbertson, Saptarshi Bandyopadhyay, Ashish Goel, Patrick McGarey, Mac Schwager
    2022 IEEE Aerospace Conference, 2022
    #multi-robot #planning
    pdf
  3. Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstacles
    Roya Firoozi, Alexandre Mir, Gadiel Sznaier Camps, Mac Schwager
    arXiv, 2022
    #safety #planning #reachability
    pdf
  4. The Riemannian Elevator for certifiable distance-based localization
    Trevor Halsted, Mac Schwager
    arXiv, 2022
    #localization #optimization
    pdf
  5. Game-Theoretic Planning for Autonomous Driving among Risk-Aware Human Drivers
    Rohan Chandra, Mingyu Wang, Mac Schwager, Dinesh Manocha
    2022 International Conference on Robotics and Automation (ICRA), 2022
    #game theory #autonomous vehicle #planning
    pdf
  6. Self-Supervised Traffic Advisors: Distributed, Multi-view Traffic Prediction for Smart Cities
    Jiankai Sun, Shreyas Kousik, David Fridovich-Keil, Mac Schwager
    25th IEEE Intelligent Transportation Systems Conference (ITSC 2022), 2022
    #autonomous vehicle #machine learning #computer vision
    pdf
  7. Vision-Only Robot Navigation in a Neural Radiance World
    Michal Adamkiewicz, Timothy Chen, Adam Caccavale, Rachel Gardner, Preston Culbertson, Jeannette Bohg, Mac Schwager
    IEEE Robotics and Automation Letters (RA-L), 2022
    #NeRF #planning #computer vision
    project page pdf
  8. DiNNO: Distributed Neural Network Optimization for Multi-Robot Collaborative Learning
    Javier Yu, Joseph A. Vincent, Mac Schwager
    IEEE Robotics and Automation Letters, 2022
    #multi-robot #machine learning #optimization
    pdf
2021
  1. A Survey of Distributed Optimization Methods for Multi-Robot Systems
    Trevor Halsted, Ola Shorinwa, Javier Yu, Mac Schwager
    arXiv:2103.12840 [cs], 2021
    #multi-robot #optimization
    pdf
  2. CoCo: Online Mixed-Integer Control via Supervised Learning
    A. Cauligi, P. Culbertson, E. Schmerling, M. Schwager, B. Stellato, M. Pavone
    IEEE Robotics and Automation Letters (RA-L), 2021
    #optimization #control #machine learning
    pdf
  3. Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies
    Preston Culbertson, Jean-Jacques E Slotine, Mac Schwager
    IEEE Transactions on Robotics, 2021
    #manipulation #multi-robot #control
    code pdf
  4. TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation
    Claire Chen, Preston Culbertson, Marion Lepert, Mac Schwager, Jeannette Bohg
    2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
    #manipulation #planning #optimization
  5. Distributed Contact-Implicit Trajectory Optimization for Collaborative Manipulation
    Ola Shorinwa, Mac Schwager
    2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2021
    #multi-robot #manipulation #optimization
    pdf
  6. Learning Large Graph-based MDPs with Historical Data
    Ravi N. Haksar, Mac Schwager
    IEEE Transactions on Control of Network Systems, 2021
    #machine learning #state estimation
    pdf
  7. Reachable Polyhedral Marching (RPM): A Safety Verification Algorithm for Robotic Systems with Deep Neural Network Components
    Joseph A. Vincent, Mac Schwager
    2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
    #reachability #machine learning #safety
    pdf
  8. Reduced State Value Iteration for Multi-Drone Persistent Surveillance with Charging Constraints
    Patrick Washington, Mac Schwager
    2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
    #multi-robot #aerial #planning
    pdf
  9. ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games
    Simon Le Cleac’h, Mac Schwager, Zachary Manchester
    Autonomous Robots, 2021
    #game theory #autonomous vehicle #planning
    pdf
  10. LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning
    Simon Le Cleac’h, Mac Schwager, Zachary Manchester
    IEEE Robotics and Automation Letters, 2021
    #game theory #autonomous vehicle #planning
    pdf
  11. HJB-RL: Initializing Reinforcement Learning with Optimal Control Policies Applied to Autonomous Drone Racing
    Keiko Nagami, Mac Schwager
    Robotics: Science and Systems XVII, 2021
    #reinforcement learning #aerial #control
    pdf
  12. SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control
    Haruki Nishimura, Mac Schwager
    The International Journal of Robotics Research, 2021
    #planning #control #uncertainty quantification
    pdf
  13. RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch
    Haruki Nishimura, Negar Mehr, Adrien Gaidon, Mac Schwager
    IEEE Robotics and Automation Letters, 2021
    #control #safety #uncertainty quantification
    pdf
  14. Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios
    Mingyu Wang, Zijian Wang, John Talbot, J. Christian Gerdes, Mac Schwager
    IEEE Transactions on Robotics, 2021
    #game theory #autonomous vehicle #planning
    pdf
2020
  1. MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception
    Benjamin Ramtoula, Adam Caccavale, Giovanni Beltrame, Mac Schwager
    Springer Proceedings in Advanced Robotics, 2020
    #state estimation #computer vision
    pdf
  2. Learning Mixed-Integer Convex Optimization Strategies for Robot Planning and Control
    Abhishek Cauligi, Preston Culbertson, Bartolomeo Stellato, Dimitris Bertsimas, Mac Schwager, Marco Pavone
    2020 59th IEEE Conference on Decision and Control (CDC), 2020
    #optimization #machine learning #planning
    code pdf
  3. Scalable Collaborative Manipulation with Distributed Trajectory Planning
    Ola Shorinwa, Mac Schwager
    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
    #multi-robot #manipulation #optimization
    pdf
  4. Scalable Distributed Optimization with Separable Variables in Multi-Agent Networks
    Olaoluwa Shorinwa, Trevor Halsted, Mac Schwager
    2020 American Control Conference (ACC), 2020
    #multi-robot #optimization
    pdf
  5. Game Theoretic Motion Planning for Multi-robot Racing
    Zijian Wang, Riccardo Spica, Mac Schwager
    Distributed Autonomous Robotic Systems, 2020
    #game theory #aerial #planning
    pdf
  6. A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing
    Riccardo Spica, Eric Cristofalo, Zijian Wang, Eduardo Montijano, Mac Schwager
    IEEE Transactions on Robotics, 2020
    #game theory #aerial #planning
    pdf
  7. Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction
    Haruki Nishimura, Boris Ivanovic, Adrien Gaidon, Marco Pavone, Mac Schwager
    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
    #safety #planning #machine learning
    pdf
  8. Enhancing Game-Theoretic Autonomous Car Racing Using Control Barrier Functions
    Gennaro Notomista, Mingyu Wang, Mac Schwager, Magnus Egerstedt
    2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
    #game theory #autonomous vehicle #safety
    pdf
  9. CinemAirSim: A Camera-Realistic Robotics Simulator for Cinematographic Purposes
    Pablo Pueyo, Eric Cristofalo, Eduardo Montijano, Mac Schwager
    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
    #aerial #simulation
    pdf
  10. Distributed Motion Control for Multiple Connected Surface Vessels
    Wei Wang, Zijian Wang, Luis Mateos, Kuan Wei Huang, Mac Schwager, Carlo Ratti, Daniela Rus
    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
    #multi-robot #control
    pdf
  11. Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning
    Kyle Brown, Oriana Peltzer, Martin A. Sehr, Mac Schwager, Mykel J. Kochenderfer
    2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
    #multi-robot #planning #optimization
    pdf
  12. Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization
    Brian E. Jackson, Taylor A. Howell, Kunal Shah, Mac Schwager, Zachary Manchester
    IEEE Robotics and Automation Letters, 2020
    #multi-robot #aerial #optimization
    pdf
  13. An untethered isoperimetric soft robot
    Nathan S. Usevitch, Zachary M. Hammond, Mac Schwager, Allison M. Okamura, Elliot W. Hawkes, Sean Follmer
    Science Robotics, 2020
    #locomotion #manipulation
    pdf
  14. Locomotion of Linear Actuator Robots Through Kinematic Planning and Nonlinear Optimization
    Nathan S. Usevitch, Zachary M. Hammond, Mac Schwager
    IEEE Transactions on Robotics, 2020
    #locomotion #planning #optimization
    pdf
  15. Game-Theoretic Planning for Risk-Aware Interactive Agents
    Mingyu Wang, Negar Mehr, Adrien Gaidon, Mac Schwager
    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
    #game theory #autonomous vehicle #planning
    pdf
  16. Directional primitives for uncertainty-aware motion estimation in urban environments
    Ransalu Senanayake, Maneekwan Toyungyernsub, Mingyu Wang, Mykel J. Kochenderfer, Mac Schwager
    IEEE International Conference on Intelligent Transportation Systems (ITSC), 2020
    #autonomous vehicle #state estimation #uncertainty quantification
    pdf
  17. Multidrone aerial surveys of penguin colonies in Antarctica
    Kunal Shah, Grant Ballard, Annie Schmidt, Mac Schwager
    Science Robotics, 2020
    #multi-robot #aerial #planning
    pdf
  18. Distributed Multi-Target Tracking for Autonomous Vehicle Fleets
    Ola Shorinwa, Javier Yu, Trevor Halsted, Alex Koufos, Mac Schwager
    2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
    #multi-robot #autonomous vehicle #state estimation
    pdf
  19. Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage
    Ravi N. Haksar, Sebastian Trimpe, Mac Schwager
    IEEE Robotics and Automation Letters, 2020
    #multi-robot #aerial #planning
    pdf
  20. ALGAMES: A Fast Solver for Constrained Dynamic Games
    Simon Le Cleac’h, Mac Schwager, Zachary Manchester
    Robotics: Science and Systems XVI, 2020
    #game theory #autonomous vehicle #planning
    pdf
  21. AirSim Drone Racing Lab
    Ratnesh Madaan, Nicholas Gyde, Sai Vemprala, Matthew Brown, Keiko Nagami, Tim Taubner, Eric Cristofalo, Davide Scaramuzza, Mac Schwager, Ashish Kapoor
    Proceedings of the NeurIPS 2019 Competition and Demonstration Track, 2020
    #aerial #simulation
    pdf
  22. SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control
    Haruki Nishimura, Mac Schwager
    Algorithmic Foundations of Robotics XIII, 2020
    #planning #control #uncertainty quantification
    pdf
  23. Vision-Based Control for Fast 3-D Reconstruction With an Aerial Robot
    Eric Cristofalo, Eduardo Montijano, Mac Schwager
    IEEE Transactions on Control Systems Technology, 2020
    #aerial #3D reconstruction #control
    pdf
  24. Multi-agent sensitivity enhanced iterative best response: A real-time game theoretic planner for drone racing in 3D environments
    Zijian Wang, Tim Taubner, Mac Schwager
    Robotics and Autonomous Systems, 2020
    #game theory #aerial #planning
    pdf
2019
  1. Consensus-based ADMM for Task Assignment in Multi-Robot Teams
    Ravi N. Haksar, Olaoluwa Shorinwa, Patrick Washington, Mac Schwager
    2019 International Symposium on Robotics Research, 2019
    #multi-robot #optimization #planning
    pdf
  2. Multi-Robot Assembly Sequencing via Discrete Optimization
    Preston Culbertson, Saptarshi Bandyopadhyay, Mac Schwager
    2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
    #multi-robot #optimization #planning
    pdf
  3. Game Theoretic Planning for Self-Driving Cars in Competitive Scenarios
    Mingyu Wang, Zijian Wang, John Talbot, J. Christian Gerdes, Mac Schwager
    Robotics: Science and Systems XV, 2019
    #game theory #autonomous vehicle #planning
    pdf
  4. Fast Reciprocal Collision Avoidance Under Measurement Uncertainty
    Guillermo Angeris, Kunal Shah, Mac Schwager
    2019 International Symposium of Robotics Research (ISRR), 2019
    #multi-robot #safety #planning
    pdf
  5. Trust But Verify: A Distributed Algorithm for Multi-Robot Wireframe Exploration and Mapping
    Adam Caccavale, Mac Schwager
    2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
    #multi-robot #mapping
    pdf
  6. Tracking a Markov Target in a Discrete Environment With Multiple Sensors
    Kevin Leahy, Mac Schwager
    IEEE Transactions on Automatic Control, 2019
    #multi-robot #state estimation #planning
    pdf
  7. Distributed multi-robot formation control in dynamic environments
    Javier Alonso-Mora, Eduardo Montijano, Tobias Nägeli, Otmar Hilliges, Mac Schwager, Daniela Rus
    Autonomous Robots, 2019
    #multi-robot #aerial #control
    pdf
  8. Scalable Filtering of Large Graph-Coupled Hidden Markov Models
    Ravi N. Haksar, Joseph Lorenzetti, Mac Schwager
    2019 IEEE 58th Conference on Decision and Control (CDC), 2019
    #state estimation
    pdf
  9. Consensus-based Distributed 3D Pose Estimation with Noisy Relative Measurements
    Eric Cristofalo, Eduardo Montijano, Mac Schwager
    2019 IEEE 58th Conference on Decision and Control (CDC), 2019
    #multi-robot #state estimation #localization
    pdf
  10. Control in belief space with temporal logic specifications using vision-based localization
    Kevin Leahy, Eric Cristofalo, Cristian-Ioan Vasile, Austin Jones, Eduardo Montijano, Mac Schwager, Calin Belta
    The International Journal of Robotics Research, 2019
    #localization #planning #aerial
    pdf
  11. GRAPE: Geometric Risk-Aware Pursuit-Evasion
    Kunal Shah, Mac Schwager
    Robotics and Autonomous Systems, 2019
    #multi-robot #planning #safety
    pdf
  12. Multi-agent Cooperative Pursuit-Evasion Strategies Under Uncertainty
    Kunal Shah, Mac Schwager
    Distributed Autonomous Robotic Systems, 2019
    #multi-robot #planning #safety
    pdf
  13. Controlling Heterogeneous Stochastic Growth Processes on Lattices with Limited Resources
    Ravi N. Haksar, Friedrich Solowjow, Sebastian Trimpe, Mac Schwager
    2019 IEEE 58th Conference on Decision and Control (CDC), 2019
    #control #optimization
    pdf
  14. Distributed Collision Avoidance of Multiple Robots with Probabilistic Buffered Voronoi Cells
    Mingyu Wang, Mac Schwager
    2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2019
    #multi-robot #safety #planning
    pdf
2018
  1. Decentralized Adaptive Control for Collaborative Manipulation
    Preston Culbertson, Mac Schwager
    2018 IEEE International Conference on Robotics and Automation (ICRA), 2018
    #manipulation #multi-robot #control
    pdf
  2. Controlling Noncooperative Herds with Robotic Herders
    Alyssa Pierson, Mac Schwager
    IEEE Transactions on Robotics, 2018
    #multi-robot #control #planning
    pdf
  3. Distributed Deep Reinforcement Learning for Fighting Forest Fires with a Network of Aerial Robots
    Ravi N. Haksar, Mac Schwager
    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
    #reinforcement learning #multi-robot #aerial
    pdf
  4. Agile Coordination and Assistive Collision Avoidance for Quadrotor Swarms Using Virtual Structures
    Dingjiang Zhou, Zijian Wang, Mac Schwager
    IEEE Transactions on Robotics, 2018
    #multi-robot #aerial #control
    pdf
  5. Active Motion-Based Communication for Robots with Monocular Vision
    Haruki Nishimura, Mac Schwager
    2018 IEEE International Conference on Robotics and Automation (ICRA), 2018
    #state estimation #computer vision #planning
    pdf
  6. Safe Distributed Lane Change Maneuvers for Multiple Autonomous Vehicles Using Buffered Input Cells
    Mingyu Wang, Zijian Wang, Shreyasha Paudel, Mac Schwager
    2018 IEEE International Conference on Robotics and Automation (ICRA), 2018
    #autonomous vehicle #safety #multi-robot
    pdf
  7. Controlling Large, Graph-based MDPs with Global Control Capacity Constraints: An Approximate LP Solution
    Ravi N. Haksar, Mac Schwager
    2018 IEEE Conference on Decision and Control (CDC), 2018
    #control #optimization
    pdf
  8. Cooperative Object Transport in 3D with Multiple Quadrotors Using No Peer Communication
    Zijian Wang, Sumeet Singh, Marco Pavone, Mac Schwager
    2018 IEEE International Conference on Robotics and Automation (ICRA), 2018
    #multi-robot #aerial #manipulation
    pdf
  9. OuijaBots: Omnidirectional Robots for Cooperative Object Transport with Rotation Control Using No Communication
    Zijian Wang, Guang Yang, Xuanshuo Su, Mac Schwager
    Distributed Autonomous Robotic Systems, 2018
    #multi-robot #manipulation #control
    pdf
  10. Translational and Rotational Invariance in Networked Dynamical Systems
    Cristian-Ioan Vasile, Mac Schwager, Calin Belta
    IEEE Transactions on Control of Network Systems, 2018
    #multi-robot #control
    pdf
  11. Wireframe Mapping for Resource-Constrained Robots
    Adam Caccavale, Mac Schwager
    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
    #mapping #state estimation
    pdf
2017
  1. Adapting to sensing and actuation variations in multi-robot coverage
    Alyssa Pierson, Lucas C Figueiredo, Luciano CA Pimenta, Mac Schwager
    The International Journal of Robotics Research, 2017
    #multi-robot #control
    pdf
  2. Linear actuator robots: Differential kinematics, controllability, and algorithms for locomotion and shape morphing
    Nathan Usevitch, Zachary Hammond, Sean Follmer, Mac Schwager
    2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
    #locomotion #control
    pdf
  3. Fast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells
    Dingjiang Zhou, Zijian Wang, Saptarshi Bandyopadhyay, Mac Schwager
    IEEE Robotics and Automation Letters, 2017
    #multi-robot #aerial #safety
    pdf
  4. Distributed multi-robot localization from acoustic pulses using Euclidean distance geometry
    Trevor Halsted, Mac Schwager
    2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2017
    #multi-robot #localization
    pdf
  5. Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders With Multiple Pursuers
    Alyssa Pierson, Zijian Wang, Mac Schwager
    IEEE Robotics and Automation Letters, 2017
    #multi-robot #planning #safety
    pdf
  6. Learning a dynamical system model for a spatiotemporal field using a mobile sensing robot
    Xiaodong Lan, Mac Schwager
    2017 American Control Conference (ACC), 2017
    #machine learning #state estimation
    pdf
  7. Localization of a Ground Robot by Aerial Robots for GPS-Deprived Control with Temporal Logic Constraints
    Eric Cristofalo, Kevin Leahy, Cristian-Ioan Vasile, Eduardo Montijano, Mac Schwager, Calin Belta
    2016 International Symposium on Experimental Robotics, 2017
    #localization #aerial #computer vision
    pdf
  8. Robust Adaptive Coverage Control for Robotic Sensor Networks
    Mac Schwager, Michael P. Vitus, Samantha Powers, Daniela Rus, Claire J. Tomlin
    IEEE Transactions on Control of Network Systems, 2017
    #multi-robot #control
    pdf
  9. A distributed algorithm for mapping the graphical structure of complex environments with a swarm of robots
    Adam Caccavale, Mac Schwager
    2017 IEEE International Conference on Robotics and Automation (ICRA), 2017
    #multi-robot #mapping
    pdf
2016
  1. Control in belief space with Temporal Logic specifications
    Cristian-Ioan Vasile, Kevin Leahy, Eric Cristofalo, Austin Jones, Mac Schwager, Calin Belta
    2016 IEEE 55th Conference on Decision and Control (CDC), 2016
    #planning #control #uncertainty quantification
    pdf
  2. A multi-resolution approach for discovery and 3-D modeling of archaeological sites using satellite imagery and a UAV-borne camera
    Huanyu Ding, Eric Cristofalo, Joseph Wang, David Castanon, Eduardo Montijano, Venkatesh Saligrama, Mac Schwager
    2016 American Control Conference (ACC), 2016
    #aerial #3D reconstruction #planning
    pdf
  3. Multi-robot Manipulation Without Communication
    Zijian Wang, Mac Schwager
    Distributed Autonomous Robotic Systems, 2016
    #multi-robot #manipulation #control
    pdf
  4. Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints
    Kevin Leahy, Dingjiang Zhou, Cristian-Ioan Vasile, Konstantinos Oikonomopoulos, Mac Schwager, Calin Belta
    Experimental Robotics, 2016
    #aerial #planning #multi-robot
    pdf
  5. Correlated Orienteering Problem and its Application to Persistent Monitoring Tasks
    Jingjin Yu, Mac Schwager, Daniela Rus
    IEEE Transactions on Robotics, 2016
    #multi-robot #planning #optimization
    pdf
  6. Force-Amplifying N-robot Transport System (Force-ANTS) for cooperative planar manipulation without communication
    Zijian Wang, Mac Schwager
    The International Journal of Robotics Research, 2016
    #multi-robot #manipulation #control
    pdf
  7. Persistent surveillance for unmanned aerial vehicles subject to charging and temporal logic constraints
    Kevin Leahy, Dingjiang Zhou, Cristian-Ioan Vasile, Konstantinos Oikonomopoulos, Mac Schwager, Calin Belta
    Autonomous Robots, 2016
    #aerial #planning #multi-robot
    pdf
  8. Adaptive Inter-Robot Trust for Robust Multi-Robot Sensor Coverage
    Alyssa Pierson, Mac Schwager
    2013 International Symposium of Robotics Research (ISRR), 2016
    #multi-robot #control
    pdf
  9. Active Magnetic Anomaly Detection Using Multiple Micro Aerial Vehicles
    Philip M. Dames, Mac Schwager, Daniela Rus, Vijay Kumar
    IEEE Robotics and Automation Letters, 2016
    #multi-robot #aerial #state estimation
    pdf
  10. Always choose second best: Tracking a moving target on a graph with a noisy binary sensor
    Kevin Leahy, Mac Schwager
    2016 European Control Conference (ECC), 2016
    #state estimation #planning
    pdf
  11. Cooperative multi-quadrotor pursuit of an evader in an environment with no-fly zones
    Alyssa Pierson, Armin Ataei, Ioannis Ch. Paschalidis, Mac Schwager
    2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
    #multi-robot #aerial #planning
    pdf
  12. Distributed Multi-Robot Navigation in Formation among Obstacles: A Geometric and Optimization Approach with Consensus
    Javier Alonso-Mora, Eduardo Montijano, Mac Schwager, Daniela Rus
    2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
    #multi-robot #planning #control
    pdf
  13. Kinematic multi-robot manipulation with no communication using force feedback
    Zijian Wang, Mac Schwager
    2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
    #multi-robot #manipulation #control
    pdf
  14. Rapidly Exploring Random Cycles: Persistent Estimation of Spatiotemporal Fields With Multiple Sensing Robots
    Xiaodong Lan, Mac Schwager
    IEEE Transactions on Robotics, 2016
    #planning #state estimation #multi-robot
    pdf
  15. Q-Learning for robust satisfaction of signal temporal logic specifications
    Derya Aksaray, Austin Jones, Zhaodan Kong, Mac Schwager, Calin Belta
    2016 IEEE 55th Conference on Decision and Control (CDC), 2016
    #reinforcement learning #planning #safety
    pdf
  16. Assistive collision avoidance for quadrotor swarm teleoperation
    Dingjiang Zhou, Mac Schwager
    2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
    #multi-robot #aerial #safety
    pdf
  17. Flying Smartphones: When Portable Computing Sprouts Wings
    Ross Allen, Marco Pavone, Mac Schwager
    IEEE Pervasive Computing, 2016
    #aerial
    pdf
  18. Vision-Based Distributed Formation Control Without an External Positioning System
    Eduardo Montijano, Eric Cristofalo, Dingjiang Zhou, Mac Schwager, Carlos Sagues
    IEEE Transactions on Robotics, 2016
    #multi-robot #aerial #computer vision
    pdf
  19. Distributed formation control of non-holonomic robots without a global reference frame
    Eduardo Montijano, Eric Cristofalo, Mac Schwager, Carlos Sagues
    2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
    #multi-robot #control
    pdf
2015
  1. Adapting to performance variations in multi-robot coverage
    Alyssa Pierson, Lucas C. Figueiredo, Luciano C. A. Pimenta, Mac Schwager
    2015 IEEE International Conference on Robotics and Automation (ICRA), 2015
    #multi-robot #control
    pdf
  2. Virtual Rigid Bodies for coordinated agile maneuvering of teams of micro aerial vehicles
    Dingjiang Zhou, Mac Schwager
    2015 IEEE International Conference on Robotics and Automation (ICRA), 2015
    #multi-robot #aerial #control
    pdf
  3. SE(N) invariance in networked systems
    Cristian-Ioan Vasile, Mac Schwager, Calin Belta
    2015 European Control Conference (ECC), 2015
    #multi-robot #control
    pdf
  4. Pipelined Consensus for Global State Estimation in Multi-Agent Systems
    G Habibi, J McLurkin, Z Wang, Z Kingston, M Schwager
    2015 International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2015
    #multi-robot #state estimation
    pdf
  5. Bio-inspired non-cooperative multi-robot herding
    Alyssa Pierson, Mac Schwager
    2015 IEEE International Conference on Robotics and Automation (ICRA), 2015
    #multi-robot #control
    pdf
  6. Distributed information gathering policies under temporal logic constraints
    Kevin Leahy, Austin Jones, Mac Schwager, Calin Belta
    2015 54th IEEE Conference on Decision and Control (CDC), 2015
    #multi-robot #planning
    pdf
  7. Information-guided persistent monitoring under temporal logic constraints
    Austin Jones, Mac Schwager, Calin Belta
    2015 American Control Conference (ACC), 2015
    #planning
    pdf
2014
  1. Playing Fetch with Your Robot: The Ability of Robots to Locate and Interact with Objects
    Philip Dames, Dinesh Thakur, Mac Schwager, Vijay Kumar
    IEEE Robotics & Automation Magazine, 2014
    #planning #state estimation
    pdf
  2. A variational approach to trajectory planning for persistent monitoring of spatiotemporal fields
    Xiaodong Lan, Mac Schwager
    2014 American Control Conference, 2014
    #planning #optimization
    pdf
  3. Vector field following for quadrotors using differential flatness
    Dingjiang Zhou, Mac Schwager
    2014 IEEE International Conference on Robotics and Automation (ICRA), 2014
    #aerial #control
    pdf
  4. Distributed formation control without a global reference frame
    Eduardo Montijano, Dingjiang Zhou, Mac Schwager, Carlos Sagues
    2014 American Control Conference, 2014
    #multi-robot #control
    pdf
  5. Decentralized path planning for coverage tasks using gradient descent adaptive control
    Daniel E. Soltero, Mac Schwager, Daniela Rus
    The International Journal of Robotics Research, 2014
    #multi-robot #control #planning
    pdf
2013
  1. Rebalancing the rebalancers: optimally routing vehicles and drivers in mobility-on-demand systems
    Stephen L. Smith, Marco Pavone, Mac Schwager, Emilio Frazzoli, Daniela Rus
    2013 American Control Conference, 2013
    #autonomous vehicle #optimization #planning
    pdf
  2. Planning periodic persistent monitoring trajectories for sensing robots in Gaussian Random Fields
    Xiaodong Lan, Mac Schwager
    2013 IEEE International Conference on Robotics and Automation, 2013
    #planning #state estimation
    pdf
  3. Distribution temporal logic: Combining correctness with quality of estimation
    Austin Jones, Mac Schwager, Calin Belta
    52nd IEEE Conference on Decision and Control, 2013
    #planning #state estimation
    pdf
  4. A receding horizon algorithm for informative path planning with temporal logic constraints
    Austin Jones, Mac Schwager, Calin Belta
    2013 IEEE International Conference on Robotics and Automation, 2013
    #planning
    pdf
2012
  1. A decentralized control policy for adaptive information gathering in hazardous environments
    Philip Dames, Mac Schwager, Vijay Kumar, Daniela Rus
    2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012
    #multi-robot #planning #state estimation
    pdf
  2. Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments
    Stephen L. Smith, Mac Schwager, Daniela Rus
    IEEE Transactions on Robotics, 2012
    #multi-robot #control #planning
    pdf
  3. Distributed robotic sensor networks: An information-theoretic approach
    Brian J Julian, Michael Angermann, Mac Schwager, Daniela Rus
    The International Journal of Robotics Research, 2012
    #multi-robot #state estimation #aerial
    pdf
  4. Generating informative paths for persistent sensing in unknown environments
    Daniel E. Soltero, Mac Schwager, Daniela Rus
    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
    #planning
    pdf
2011
  1. Persistent ocean monitoring with underwater gliders: Adapting sampling resolution: Persistent Ocean Monitoring with Underwater Gliders
    Ryan N. Smith, Mac Schwager, Stephen L. Smith, Burton H. Jones, Daniela Rus, Gaurav S. Sukhatme
    Journal of Field Robotics, 2011
    #planning #multi-robot
    pdf
  2. Eyes in the Sky: Decentralized Control for the Deployment of Robotic Camera Networks
    Mac Schwager, Brian J. Julian, M. Angermann, D. Rus
    Proceedings of the IEEE, 2011
    #multi-robot #aerial #control
    pdf
  3. Unifying geometric, probabilistic, and potential field approaches to multi-robot deployment
    Mac Schwager, Daniela Rus, Jean-Jacques Slotine
    The International Journal of Robotics Research, 2011
    #multi-robot #control #optimization
    pdf
2009
  1. Decentralized, Adaptive Coverage Control for Networked Robots
    Mac Schwager, Daniela Rus, Jean-Jacques Slotine
    The International Journal of Robotics Research, 2009
    #multi-robot #control
    pdf
2008
  1. Data-driven identification of group dynamics for motion prediction and control
    Mac Schwager, Carrick Detweiler, Iuliu Vasilescu, Dean M. Anderson, Daniela Rus
    Journal of Field Robotics, 2008
    #machine learning #multi-robot #control
    pdf
2007
  1. Robust classification of animal tracking data
    Mac Schwager, Dean M. Anderson, Zack Butler, Daniela Rus
    Computers and Electronics in Agriculture, 2007
    #machine learning #state estimation
    pdf