Mac Schwager's Profile | Stanford Profiles

Mac Schwager's Profile | Stanford Profiles
Mac Schwager
Associate Professor of Aeronautics and Astronautics and, by courtesy, of Computer Science
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Bio
Teaching
Publications
Academic Appointments
Associate Professor,
Aeronautics and Astronautics
Associate Professor (By courtesy),
Computer Science
Member,
Bio-X
Member,
Wu Tsai Human Performance Alliance
Administrative Appointments
Associate Professor, Stanford University (2021 - Present)
Assistant Professor, Stanford University (2015 - 2021)
Assistant Professor, Boston University (2012 - 2015)
Postdoctoral Researcher, University of Pennsylvania (2010 - 2012)
Postdoctoral Researcher, MIT (2009 - 2011)
Automation Engineer, Applied Materials, Inc (2000 - 2002)
Honors & Awards
Best Paper Award in Multi-Robot Systems, International Conference on Robotics and Automation (ICRA) (2020)
Toshio Fukuda Young Professional Award, International Conference on Intelligent Robots and Systems (IROS) (2019)
Outstanding Professor Award in Aeronautics and Astronautics, AIAA Stanford Student Chapter (2018-2019)
Best Paper in Robot Manipulation, International Conference on Robotics and Automation (ICRA) (2018)
Google Faculty Research Award, Google (2018)
Young Faculty Award (YFA), DARPA (2018)
Best Paper Finalist, International Conference on Robotics and Automation (ICRA) (2016)
King-Sun Fu Memorial Best Paper Award, IEEE Transactions on Robotics (2016)
CAREER Award, NSF (2014)
Best Paper Finalist, International Conference on Robotics and Automation (ICRA) (2011)
Best Paper Award, Conference on the Simulation of Adaptive Behavior (SAB) (2008)
Best Paper Finalist, International Conference on Robotics and Automation (ICRA) (2008)
Professional Education
PhD, MIT, Mechanical Engineering (2009)
MS, MIT, Mechanical Engineering (2005)
BS, Stanford, Mechanical Engineering (2000)
Contact
Academic
schwager@stanford.edu
University - Faculty
Department: Aeronautics and Astronautics
Position: Assoc Professor
496 Lomita Mall Rm 266
Durand Building
Stanford,
California
94305-4008
Additional Info
Mail Code:
4035
ORCID:
Links
Lab Website
Personal Website
2025-26 Courses
Advanced Feedback Control Design
AA 212 (Spr)
Principles of Robot Autonomy I
AA 274A, CS 237A, EE 260A, ME 274A (Aut)
State Estimation and Filtering for Robotic Perception
AA 273 (Win)
Independent Studies (9)
Directed Research and Writing in Aero/Astro
AA 190 (Aut, Win, Spr, Sum)
Directed Studies in Applied Physics
APPPHYS 290 (Spr)
Experimental Investigation of Engineering Problems
ME 392 (Win, Spr)
Independent Project
CS 399 (Aut, Win)
Independent Study in Aero/Astro
AA 199 (Aut, Win, Spr, Sum)
Ph.D. Research Rotation
ME 398 (Win)
Practical Training
AA 291 (Aut, Win, Spr, Sum)
Problems in Aero/Astro
AA 290 (Aut, Win, Spr)
Problems in Aero/Astro
AA 290S (Sum)
Prior Year Courses
2024-25 Courses
Advanced Feedback Control Design
AA 212 (Win)
Principles of Robot Autonomy I
AA 274A, CS 237A, EE 260A, ME 274A (Aut)
State Estimation and Filtering for Robotic Perception
AA 273 (Spr)
2023-24 Courses
Advanced Feedback Control Design
AA 212 (Win)
Principles of Robot Autonomy I
AA 274A, CS 237A, EE 260A (Aut)
State Estimation and Filtering for Robotic Perception
AA 273 (Spr)
2022-23 Courses
Advanced Feedback Control Design
AA 212 (Aut)
Multi-Robot Control and Distributed Optimization
AA 277 (Win)
State Estimation and Filtering for Robotic Perception
AA 273 (Spr)
Stanford Advisees
Doctoral Dissertation Reader (AC)
Pol Francesch Huc,
Matthew Hunter
Andrei Kanavalau
Daniel Neamati
Rohan Sinha
Aliyah Smith
Alexandros Tzikas
Isaac Ward
Asta Wu
Jianhao Zheng
Orals Chair
Joey Hejna
, Stephen Tian
Doctoral Dissertation Advisor (AC)
Maximilian Adang,
Qianzhong Chen
Timothy Chen
Polo Contreras
, Aaron Feldman,
Suning Huang
Jiankai Sun
Gadi Sznaier Camps
, John Tucker, Maggie Wang
Orals Evaluator
Keidai Iiyama
Rohan Sinha
Aliyah Smith
Alexandros Tzikas
Master's Program Advisor
Atharva Aalok,
Timothy Chen
, Florian Grader-Beck, Hojune Kim, Purushotham Mani, Sebastian Martínez, Lachlain McGranahan,
Adam Yang
Doctoral Dissertation Co-Advisor (AC)
Colton Crosby
Doctoral (Program)
Hugo Buurmeijer,
Jaden Clark
All Publications
SketchPlan: Diffusion Based Drone Planning From Human Sketches
IEEE ROBOTICS AND AUTOMATION LETTERS
Norelius, S., Feldman, A. O., Schwager, M.
2026
11 (4)
: 4377-4384
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DOI 10.1109/LRA.2026.3664173
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Web of Science ID 001700590400013
VISTA: Open-Vocabulary, Task-Relevant Robot Exploration With Online Semantic Gaussian Splatting
IEEE ROBOTICS AND AUTOMATION LETTERS
Nagami, K., Chen, T., Yu, J., Shorinwa, O., Adang, M., Dougherty, C., Cristofalo, E., Schwager, M.
2026
11 (3)
: 3150-3157
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DOI 10.1109/LRA.2026.3653276
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Web of Science ID 001676224400012
GRAD-NAV++: Vision-Language Model Enabled Visual Drone Navigation With Gaussian Radiance Fields and Differentiable Dynamics
IEEE ROBOTICS AND AUTOMATION LETTERS
Chen, Q., Gao, N., Huang, S., Low, J., Chen, T., Sun, J., Schwager, M.
2026
11 (2)
: 1418-1425
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DOI 10.1109/LRA.2025.3643290
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Web of Science ID 001641470800007
Large-scale multi-robot assembly planning for autonomous manufacturing
ROBOTICS AND AUTONOMOUS SYSTEMS
Brown, K., Asmar, D. M., Schwager, M., Kochenderfer, M. J.
2025
194
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DOI 10.1016/j.robot.2025.105179
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Web of Science ID 001582820900001
HAMMER: Heterogeneous, Multi-Robot Semantic Gaussian Splatting
IEEE ROBOTICS AND AUTOMATION LETTERS
Yu, J., Chen, T., Schwager, M.
2025
10 (7)
: 7270-7277
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DOI 10.1109/LRA.2025.3575235
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Web of Science ID 001506578600020
Reachable Polyhedral Marching (RPM): An Exact Analysis Tool for Deep-Learned Control Systems
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
Vincent, J. A., Schwager, M.
2025
Abstract
Neural networks are increasingly used in robotics as policies, state transition models, state estimation models, or all of the above. With these components being learned from data, it is important to be able to analyze what behaviors were learned and how this affects closed-loop performance. In this article, we take steps toward this goal by developing methods for computing control invariant sets and regions of attraction (ROAs) of dynamical systems represented as neural networks. We focus our attention on feedforward neural networks with the rectified linear unit (ReLU) activation, which are known to implement continuous piecewise-affine (PWA) functions. We describe the reachable polyhedral marching (RPM) algorithm for enumerating the affine pieces of a neural network through an incremental connected walk. We then use this algorithm to compute exact forward and backward reachable sets, from which we provide methods for computing control invariant sets and ROAs. Our approach is unique in that we find these sets incrementally, without Lyapunov-based tools. In our examples, we demonstrate the ability of our approach to find nonconvex control invariant sets and ROAs on tasks with learned van der Pol oscillator and pendulum models. Further, we provide an accelerated algorithm for computing ROAs that leverages the incremental and connected enumeration of affine regions that RPM provides. We show this acceleration to lead to a $15\times $ speedup in our examples. Finally, we apply our methods to find a set of states that are stabilized by an image-based controller for an aircraft runway control problem.
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DOI 10.1109/TNNLS.2025.3571720
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Web of Science ID 001504170500001
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PubMedID 40460013
SOUS VIDE: Cooking Visual Drone Navigation Policies in a Gaussian Splatting Vacuum
IEEE ROBOTICS AND AUTOMATION LETTERS
Low, J., Adang, M., Yu, J., Nagami, K., Schwager, M.
2025
10 (5)
: 5122-5129
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DOI 10.1109/LRA.2025.3553785
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Web of Science ID 001468814200005
Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps
IEEE TRANSACTIONS ON ROBOTICS
Chen, T., Shorinwa, O., Bruno, J., Swann, A., Yu, J., Zeng, W., Nagami, K., Dames, P., Schwager, M.
2025
41
: 2765-2784
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DOI 10.1109/TRO.2025.3552348
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Web of Science ID 001470334300002
SIREN: Semantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Maps
Shorinwa, O., Sun, J., Schwager, M., Majumdar, A.
edited by Lim, J., Song, S., Park, H. W.
JMLR-JOURNAL MACHINE LEARNING RESEARCH.
2025
: 3804-3827
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Web of Science ID 001676333500179
ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly
Sun, J., Curtis, A., You, Y., Xu, Y., Koehle, M., Chen, Q., Huang, S., Guibasi, L., Chitta, S., Schwager, M., Li, H.
edited by Lim, J., Song, S., Park, H. W.
JMLR-JOURNAL MACHINE LEARNING RESEARCH.
2025
: 2628-2642
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Web of Science ID 001676333500125
Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation
He, C., Camps, G., Liu, X., Schwager, M., Sartoretti, G.
edited by Lim, J., Song, S., Park, H. W.
JMLR-JOURNAL MACHINE LEARNING RESEARCH.
2025
: 392-405
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Web of Science ID 001676333500018
ParticleFormer: A 3D Point Cloud World Model for Multi-Object, Multi-Material Robotic Manipulation
Huang, S., Chen, Q., Zhang, X., Sun, J., Schwager, M.
edited by Lim, J., Song, S., Park, H. W.
JMLR-JOURNAL MACHINE LEARNING RESEARCH.
2025
: 4941-4957
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Web of Science ID 001676333500236
Safe, Out-of-Distribution-Adaptive MPC with Conformalized Neural Network Ensembles
Contreras, J., Shorinwa, O., Schwager, M.
edited by Ozay, N., Balzano, L., Panagou, D., Abate, A.
JMLR-JOURNAL MACHINE LEARNING RESEARCH.
2025
: 194-207
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Web of Science ID 001594173500018
E2Map: Experience-and-Emotion Map for Self-Reflective Robot Navigation with Language Models
Kim, C., Kim, K., Oh, M., Baek, H., Lee, J., Jung, D., Woo, S., Woo, Y., Tucker, J., Firoozi, R., Seo, S., Schwager, M., Kim, S.
edited by Ott, C.
IEEE.
2025
: 12811-12817
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DOI 10.1109/ICRA55743.2025.11128669
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Web of Science ID 001614889900127
A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps
Chen, T., Swann, A., Yu, J., Shorinwa, O., Murai, R., Kennedy, M., Schwager, M.
edited by Ott, C.
IEEE.
2025
: 11758-11765
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DOI 10.1109/ICRA55743.2025.11128723
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Web of Science ID 001614889900032
Gen-Swarms: Adapting Deep Generative Models to Swarms of Drones
Plou, C., Pueyo, P., Martinez-Cantin, R., Schwager, M., Murillo, A. C., Montijano, E.
edited by DelBue, A., Canton, C., Pont-Tuset, J., Tommasi, T.
SPRINGER INTERNATIONAL PUBLISHING AG.
2025
: 85-101
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DOI 10.1007/978-3-031-91813-1_6
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Web of Science ID 001544982700004
OA-MPC: Occlusion-Aware MPC for Guaranteed Safe Robot Navigation With Unseen Dynamic Obstacles
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Firoozi, R., Mir, A., Camps, G., Schwager, M.
2024
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DOI 10.1109/TCST.2024.3520462
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Web of Science ID 001389651400001
How Generalizable is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation
IEEE ROBOTICS AND AUTOMATION LETTERS
Vincent, J. A., Nishimura, H., Itkina, M., Shah, P., Schwager, M., Kollar, T.
2024
9 (10)
: 8619-8626
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DOI 10.1109/LRA.2024.3445635
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Web of Science ID 001303441600002
Foundation models in robotics: Applications, challenges, and the future
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Firoozi, R., Tucker, J., Tian, S., Majumdar, A., Sun, J., Liu, W., Zhu, Y., Song, S., Kapoor, A., Hausman, K., Ichter, B., Driess, D., Wu, J., Lu, C., Schwager, M.
2024
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DOI 10.1177/02783649241281508
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Web of Science ID 001319814900001
State Estimation and Belief Space Planning Under Epistemic Uncertainty for Learning-Based Perception Systems
IEEE ROBOTICS AND AUTOMATION LETTERS
Nagami, K., Schwager, M.
2024
9 (6)
: 5118-5125
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DOI 10.1109/LRA.2024.3387139
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Web of Science ID 001209593700004
Online Path Repair: Adapting to Robot Failures in Multi-Robot Aerial Surveys
IEEE ROBOTICS AND AUTOMATION LETTERS
Clark, J., Shah, K., Schwager, M.
2024
9 (3)
: 2319-2326
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DOI 10.1109/LRA.2024.3355730
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Web of Science ID 001167554600028
Distributed Optimization Methods for Multi-robot Systems: Part 1-A Tutorial
IEEE ROBOTICS & AUTOMATION MAGAZINE
Shorinwa, O., Halsted, T., Yu, J., Schwager, M.
2024
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DOI 10.1109/MRA.2024.3358718
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Web of Science ID 001164085700001
Distributed Optimization Methods for Multi-robot Systems: Part 2-A Survey
IEEE ROBOTICS & AUTOMATION MAGAZINE
Shorinwa, O., Halsted, T., Yu, J., Schwager, M.
2024
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DOI 10.1109/MRA.2024.3352852
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Web of Science ID 001166967600001
CineMPC: A Fully Autonomous Drone Cinematography System Incorporating Zoom, Focus, Pose, and Scene Composition
IEEE TRANSACTIONS ON ROBOTICS
Pueyo, P., Dendarieta, J., Montijano, E., Murillo, A., Schwager, M.
2024
40
: 1740-1757
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DOI 10.1109/TRO.2024.3353550
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Web of Science ID 001174036700003
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
Shorinwa, O., Tucker, J., Smith, A., Swann, A., Chen, T., Firoozi, R., Kennedy, M., Schwager, M.
edited by Kroemer, O., Agrawal, P., Burgard, W.
JMLR-JOURNAL MACHINE LEARNING RESEARCH.
2024
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Web of Science ID 001483833800227
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer
Lum, T., Li, A. H., Culbertson, P., Srinivasan, K., Ames, A. D., Schwager, M., Bohg, J.
edited by Kroemer, O., Agrawal, P., Burgard, W.
JMLR-JOURNAL MACHINE LEARNING RESEARCH.
2024
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Web of Science ID 001483833800262
Distributed Conjugate Gradient Method via Conjugate Direction Tracking
Shorinwa, O., Schwager, M., IEEE
IEEE.
2024
: 2066-2073
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Web of Science ID 001310893801139
CLIPSwarm: Generating Drone Shows from Text Prompts with Vision-Language Models
Pueyo, P., Montijano, E., Murillo, A. C., Mac Schwager, IEEE
IEEE.
2024
: 11917-11923
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DOI 10.1109/IROS58592.2024.10801327
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Web of Science ID 001433985300568
Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting
Swann, A., Strong, M., Do , W., Sznaier, G., Schwager, M., Kennedy, M.
2024
: 10511-10518
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DOI 10.1109/IROS58592.2024.10802412
Distributed Quasi-Newton Method for Multi-Agent Optimization
IEEE TRANSACTIONS ON SIGNAL PROCESSING
Shorinwa, O., Schwager, M.
2024
72
: 3535-3546
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DOI 10.1109/TSP.2024.3424436
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Web of Science ID 001290239500004
Guarantees on Robot System Performance Using Stochastic Simulation Rollouts
IEEE TRANSACTIONS ON ROBOTICS
Vincent, J. A., Feldman, A. O., Schwager, M.
2024
40
: 3984-4002
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DOI 10.1109/TRO.2024.3444070
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Web of Science ID 001303447500003
CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes
IEEE TRANSACTIONS ON ROBOTICS
Chen, T., Culbertson, P., Schwager, M.
2024
40
: 2712-2728
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DOI 10.1109/TRO.2024.3386394
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Web of Science ID 001214543600002
Distributed Model Predictive Control via Separable Optimization in Multiagent Networks
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Shorinwa, O., Schwager, M.
2024
69 (1)
: 230-245
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DOI 10.1109/TAC.2023.3269338
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Web of Science ID 001163003600023
Fast Contact-Implicit Model Predictive Control
IEEE TRANSACTIONS ON ROBOTICS
Le Cleac'h, S., Howell, T. A., Yang, S., Lee, C., Zhang, J., Bishop, A., Schwager, M., Manchester, Z.
2024
40
: 1617-1629
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DOI 10.1109/TRO.2024.3351554
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Web of Science ID 001167548100002
Constrained Control of Large Graph-Based MDPs Under Measurement Uncertainty
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Haksar, R. N., Schwager, M.
2023
68 (11)
: 6605-6620
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DOI 10.1109/TAC.2023.3242344
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Web of Science ID 001129998200012
NeRF-Loc: Transformer-Based Object Localization Within Neural Radiance Fields
IEEE ROBOTICS AND AUTOMATION LETTERS
Sun, J., Xu, Y., Ding, M., Yi, H., Wang, C., Wang, J., Zhang, L., Schwager, M.
2023
8 (8)
: 5244-5250
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DOI 10.1109/LRA.2023.3293308
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Web of Science ID 001030616500013
Single-Level Differentiable Contact Simulation
IEEE ROBOTICS AND AUTOMATION LETTERS
Le Cleac'h, S., Schwager, M., Manchester, Z., Sindhwani, V., Florence, P., Singh, S.
2023
8 (7)
: 4012-4019
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DOI 10.1109/LRA.2023.3268824
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Web of Science ID 001000264500003
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects
IEEE ROBOTICS AND AUTOMATION LETTERS
Le Cleac'h, S., Yu, H., Guo, M., Howell, T., Gao, R., Wu, J., Manchester, Z., Schwager, M.
2023
8 (5)
: 2780-2787
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DOI 10.1109/LRA.2023.3257707
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Web of Science ID 000964797800002
Intention Communication and Hypothesis Likelihood in Game-Theoretic Motion Planning
IEEE ROBOTICS AND AUTOMATION LETTERS
Chahine, M., Firoozi, R., Xiao, W., Schwager, M., Rus, D.
2023
8 (3)
: 1223-1230
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DOI 10.1109/LRA.2023.3238131
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Web of Science ID 000923839100004
Maximum-Entropy Multi-Agent Dynamic Games: Forward and Inverse Solutions
IEEE TRANSACTIONS ON ROBOTICS
Mehr, N., Wang, M., Bhatt, M., Schwager, M.
2023
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DOI 10.1109/TRO.2022.3232300
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Web of Science ID 000921109600001
Distributed Multirobot Task Assignment via Consensus ADMM
IEEE TRANSACTIONS ON ROBOTICS
Shorinwa, O., Haksar, R. N., Washington, P., Schwager, M.
2023
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DOI 10.1109/TRO.2022.3228132
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Web of Science ID 000910212900001
Connected Autonomous Vehicle Motion Planning with Video Predictions from Smart, Self-Supervised Infrastructure
Sun, J., Kousik, S., Fridovich-Keil, D., Schwager, M., IEEE
IEEE.
2023
: 1721-1726
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Web of Science ID 001178996701109
Conformal Prediction for Uncertainty-Aware Planning with Diffusion Dynamics Model
Sun, J., Jiang, Y., Qiu, J., Nobel, P., Kochenderfer, M., Schwager, M.
edited by Oh, A., Neumann, T., Globerson, A., Saenko, K., Hardt, M., Levine, S.
NEURAL INFORMATION PROCESSING SYSTEMS (NIPS).
2023
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Web of Science ID 001220600004034
CineTransfer: Controlling a Robot to Imitate Cinematographic Style from a Single Example
Pueyo, P., Montijano, E., Murillo, A. C., Schwager, M., IEEE
IEEE.
2023
: 10044-10049
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DOI 10.1109/IROS55552.2023.10342280
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Web of Science ID 001136907803119
Local Non-Cooperative Games with Principled Player Selection for Scalable Motion Planning
Chahine, M., Firoozi, R., Xiao, W., Schwager, M., Rus, D., IEEE
IEEE.
2023
: 880-887
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DOI 10.1109/IROS55552.2023.10341677
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Web of Science ID 001133658800095
GrAVITree: Graph-based Approximate Value Function In a Tree
Washington, P. H., Fridovich-Keil, D., Schwager, M., IEEE
IEEE.
2023
: 4611-4618
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Web of Science ID 001027160304021
Distributed Target Tracking in Multi-Agent Networks via Sequential Quadratic Alternating Direction Method of Multipliers
Shorinwa, O., Schwager, M., IEEE
IEEE.
2023
: 341-348
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Web of Science ID 001027160300048
CoCo: Online Mixed-Integer Control Via Supervised Learning
IEEE ROBOTICS AND AUTOMATION LETTERS
Cauligi, A., Culbertson, P., Schmerling, E., Schwager, M., Stellato, B., Pavone, M.
2022
7 (2)
: 1447-1454
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DOI 10.1109/LRA.2021.3135931
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Web of Science ID 000742180000022
Vision-Only Robot Navigation in a Neural Radiance World
IEEE ROBOTICS AND AUTOMATION LETTERS
Adamkiewicz, M., Chen, T., Caccavale, A., Gardner, R., Culbertson, P., Bohg, J., Schwager, M.
2022
7 (2)
: 4606-4613
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DOI 10.1109/LRA.2022.3150497
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Web of Science ID 000766269000016
DiNNO: Distributed Neural Network Optimization for Multi-Robot Collaborative Learning
IEEE ROBOTICS AND AUTOMATION LETTERS
Yu, J., Vincent, J. A., Schwager, M.
2022
7 (2)
: 1896-1903
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DOI 10.1109/LRA.2022.3142402
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Web of Science ID 000745524600020
Fast Reciprocal Collision Avoidance Under Measurement Uncertainty
Angeris, G., Shah, K., Schwager, M.
edited by Asfour, T., Yoshida, E., Park, J., Christensen, H., Khatib, O.
SPRINGER INTERNATIONAL PUBLISHING AG.
2022
: 191-207
View details for
DOI 10.1007/978-3-030-95459-8_12
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Web of Science ID 000771723700012
FIG-OP: Exploring large-scale unknown environments on a fixed time budget
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Peltzer, O., Bouman, A., Kim, S., Senanayake, R., Ott, J., Delecki, H., Sobue, M., Kochenderfer, M. J., Schwager, M., Burdick, J., Agha-mohammadi, A.
2022
View details for
DOI 10.1109/IROS47612.2022.9981271
Self-Supervised Traffic Advisors: Distributed, Multi-view Traffic Prediction for Smart Cities
Sun, J., Kousik, S., Fridovich-Keil, D., Schwager, M., IEEE
IEEE.
2022
: 917-922
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DOI 10.1109/ITSC55140.2022.9922340
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Web of Science ID 000934720600142
CineMPC: Controlling Camera Intrinsics and Extrinsics for Autonomous Cinematography
Pueyo, P., Montijano, E., Murillo, A. C., Schwager, M., IEEE
IEEE.
2022
: 4058-4064
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DOI 10.1109/ICRA46639.2022.9811827
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Web of Science ID 000941265702064
Game-Theoretic Planning for Autonomous Driving among Risk-Aware Human Drivers
Chandra, R., Wang, M., Schwager, M., Manocha, D., IEEE
IEEE.
2022
: 2876-2883
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DOI 10.1109/ICRA46639.2022.9811865
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Web of Science ID 000941265701134
Consensus-Based ADMM for Task Assignment in Multi-robot Teams
Haksar, R. N., Shorinwa, O., Washington, P., Schwager, M.
edited by Asfour, T., Yoshida, E., Park, J., Christensen, H., Khatib, O.
SPRINGER INTERNATIONAL PUBLISHING AG.
2022
: 35-51
View details for
DOI 10.1007/978-3-030-95459-8_3
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Web of Science ID 000771723700003
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies
IEEE TRANSACTIONS ON ROBOTICS
Culbertson, P., Slotine, J., Schwager, M.
2021
37 (6)
: 1906-1920
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DOI 10.1109/TRO.2021.3072021
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Web of Science ID 000725804900008
ALGAMES: a fast augmented Lagrangian solver for constrained dynamic games
AUTONOMOUS ROBOTS
Le Cleac'h, S., Mac Schwager, Manchester, Z.
2021
View details for
DOI 10.1007/s10514-021-10024-7
View details for
Web of Science ID 000714998700001
SACBP: Belief space planning for continuous-time dynamical systems via stochastic sequential action control
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Nishimura, H., Schwager, M.
2021
View details for
DOI 10.1177/02783649211037697
View details for
Web of Science ID 000684688300001
Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios
IEEE TRANSACTIONS ON ROBOTICS
Wang, M., Wang, Z., Talbot, J., Gerdes, J., Schwager, M.
2021
37 (4)
: 1313-1325
View details for
DOI 10.1109/TRO.2020.3047521
View details for
Web of Science ID 000682134200019
LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning
IEEE ROBOTICS AND AUTOMATION LETTERS
Le Cleac'h, S., Schwager, M., Manchester, Z.
2021
6 (3)
: 5485-5492
View details for
DOI 10.1109/LRA.2021.3074880
View details for
Web of Science ID 000652782200002
RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch
IEEE ROBOTICS AND AUTOMATION LETTERS
Nishimura, H., Mehr, N., Gaidon, A., Schwager, M.
2021
6 (2)
: 763–70
View details for
DOI 10.1109/LRA.2020.3048660
View details for
Web of Science ID 000613541600002
HJB-RL:Initializing Reinforcement Learning with Optimal Control Policies Applied to Autonomous Drone Racing
Nagami, K., Schwager, M.
edited by Shell, D. A., Toussaint, M., Hsieh, M. A.
RSS FOUNDATION-ROBOTICS SCIENCE & SYSTEMS FOUNDATION.
2021
View details for
Web of Science ID 000684604200062
Reduced State Value Iteration for Multi-Drone Persistent Surveillance with Charging Constraints
Washington, P. H., Schwager, M., IEEE
IEEE.
2021
: 6390-6397
View details for
DOI 10.1109/IROS51168.2021.9636160
View details for
Web of Science ID 000755125505022
MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception
International Symposium on Experimental Robotics
Ramtoula, B., Caccavale, A., Beltrame, G., Schwager, M.
2021
: 520-532
View details for
DOI 10.1007/978-3-030-71151-1_46
Reachable polyhedral marching (rpm): A safety verification algorithm for robotic systems with deep neural network components
2021 IEEE International Conference on Robotics and Automation (ICRA)
Vincent, J. A., Schwager, M.
IEEE.
2021
: 9029-9035
View details for
DOI 10.1109/ICRA48506.2021.9561956
TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Chen, C., Culbertson, P., Lepert, M., Schwager, M., Bohg, J.
IEEE.
2021
: 8262-8268
View details for
DOI 10.1109/IROS51168.2021.9636346
Learning Large Graph-based MDPs with Historical Data
IEEE Transactions on Control of Network Systems ( Early Access )
Haksar, R. N., Schwager, M.
2021
View details for
DOI 10.1109/TCNS.2021.3128530
Distributed Contact-Implicit Trajectory Optimization for Collaborative Manipulation
2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)
Shorinwa, O., Schwager, M.
IEEE.
2021
: 56-65
View details for
DOI 10.1109/MRS50823.2021.9620665
Multidrone aerial surveys of penguin colonies in Antarctica.
Science robotics
Shah, K., Ballard, G., Schmidt, A., Schwager, M.
2020
5 (47)
Abstract
Speed is essential in wildlife surveys due to the dynamic movement of animals throughout their environment and potentially extreme changes in weather. In this work, we present a multirobot path-planning method for conducting aerial surveys over large areas designed to make the best use of limited flight time. Unlike current survey path-planning solutions based on geometric patterns or integer programs, we solve a series of satisfiability modulo theory instances of increasing complexity. Each instance yields a set of feasible paths at each iteration and recovers the set of shortest paths after sufficient time. We implemented our planning algorithm with a team of drones to conduct multiple photographic aerial wildlife surveys of Cape Crozier, one of the largest Adelie penguin colonies in the world containing more than 300,000 nesting pairs. Over 2 square kilometers was surveyed in about 3 hours. In contrast, previous human-piloted single-drone surveys of the same colony required over 2 days to complete. Our method reduces survey time by limiting redundant travel while also allowing for safe recall of the drones at any time during the survey. Our approach can be applied to other domains, such as wildfire surveys in high-risk weather conditions or disaster response.
View details for
DOI 10.1126/scirobotics.abc3000
View details for
PubMedID 33115884
Locomotion of Linear Actuator Robots Through Kinematic Planning and Nonlinear Optimization
IEEE TRANSACTIONS ON ROBOTICS
Usevitch, N. S., Hammond, Z. M., Schwager, M.
2020
36 (5)
: 1404–21
View details for
DOI 10.1109/TRO.2020.2995067
View details for
Web of Science ID 000576260400003
A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing
IEEE TRANSACTIONS ON ROBOTICS
Spica, R., Cristofalo, E., Wang, Z., Montijano, E., Schwager, M.
2020
36 (5)
: 1389–1403
View details for
DOI 10.1109/TRO.2020.2994881
View details for
Web of Science ID 000576260400002
Vision-Based Control for Fast 3-D Reconstruction With an Aerial Robot
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Cristofalo, E., Montijano, E., Schwager, M.
2020
28 (4)
: 1189–1202
View details for
DOI 10.1109/TCST.2019.2905227
View details for
Web of Science ID 000542930400002
Robots and autonomous systems, SI DARS 2018
ROBOTICS AND AUTONOMOUS SYSTEMS
Correll, N., Schwager, M.
2020
129
View details for
DOI 10.1016/j.robot.2020.103530
View details for
Web of Science ID 000536948300011
Scalable Cooperative Transport of Cable-Suspended Loads With UAVs Using Distributed Trajectory Optimization
IEEE ROBOTICS AND AUTOMATION LETTERS
Jackson, B. E., Howell, T. A., Shah, K., Schwager, M., Manchester, Z.
2020
5 (2)
: 3368–74
View details for
DOI 10.1109/LRA.2020.2975956
View details for
Web of Science ID 000520954200018
Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage
IEEE ROBOTICS AND AUTOMATION LETTERS
Haksar, R. N., Trimpe, S., Schwager, M.
2020
5 (2)
: 3027–34
View details for
DOI 10.1109/LRA.2020.2974715
View details for
Web of Science ID 000526521700017
An untethered isoperimetric soft robot
SCIENCE ROBOTICS
Usevitch, N. S., Hammond, Z. M., Schwager, M., Okamura, A. M., Hawkes, E. W., Follmer, S.
2020
5 (40)
View details for
DOI 10.1126/scirobotics.aaz0492
View details for
Web of Science ID 000520870400001
An untethered isoperimetric soft robot.
Science robotics
Usevitch, N. S., Hammond, Z. M., Schwager, M., Okamura, A. M., Hawkes, E. W., Follmer, S.
2020
5 (40)
Abstract
For robots to be useful for real-world applications, they must be safe around humans, be adaptable to their environment, and operate in an untethered manner. Soft robots could potentially meet these requirements; however, existing soft robotic architectures are limited by their ability to scale to human sizes and operate at these scales without a tether to transmit power or pressurized air from an external source. Here, we report an untethered, inflated robotic truss, composed of thin-walled inflatable tubes, capable of shape change by continuously relocating its joints, while its total edge length remains constant. Specifically, a set of identical roller modules each pinch the tube to create an effective joint that separates two edges, and modules can be connected to form complex structures. Driving a roller module along a tube changes the overall shape, lengthening one edge and shortening another, while the total edge length and hence fluid volume remain constant. This isoperimetric behavior allows the robot to operate without compressing air or requiring a tether. Our concept brings together advantages from three distinct types of robots-soft, collective, and truss-based-while overcoming certain limitations of each. Our robots are robust and safe, like soft robots, but not limited by a tether; are modular, like collective robots, but not limited by complex subunits; and are shape-changing, like truss robots, but not limited by rigid linear actuators. We demonstrate two-dimensional (2D) robots capable of shape change and a human-scale 3D robot capable of punctuated rolling locomotion and manipulation, all constructed with the same modular rollers and operating without a tether.
View details for
DOI 10.1126/scirobotics.aaz0492
View details for
PubMedID 33022597
Multi-agent sensitivity enhanced iterative best response: A real-time game theoretic planner for drone racing in 3D environments
ROBOTICS AND AUTONOMOUS SYSTEMS
Wang, Z., Taubner, T., Schwager, M.
2020
125
View details for
DOI 10.1016/j.robot.2019.103410
View details for
Web of Science ID 000515203900012
Scalable Distributed Optimization with Separable Variables in Multi-Agent Networks
Shorinwa, O., Halsted, T., Schwager, M., IEEE
IEEE.
2020
: 3619–26
View details for
Web of Science ID 000618079803092
Distributed Multi-Target Tracking for Autonomous Vehicle Fleets
Shorinwa, O., Yu, J., Halsted, T., Koufos, A., Mac Schwager, IEEE
IEEE.
2020
: 3495-3501
View details for
Web of Science ID 000712319502071
Enhancing Game-Theoretic Autonomous Car Racing Using Control Barrier Functions
Notomista, G., Wang, M., Mac Schwager, Egerstedt, M., IEEE
IEEE.
2020
: 5393-5399
View details for
Web of Science ID 000712319503107
Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning
Brown, K., Peltzer, O., Sehr, M. A., Schwager, M., Kochenderfer, M. J., IEEE
IEEE.
2020
: 441-447
View details for
Web of Science ID 000712319500051
Learning Mixed-Integer Convex Optimization Strategies for Robot Planning and Control
Cauligi, A., Culbertson, P., Stellato, B., Bertsimas, D., Mac Schwager, Pavone, M., IEEE
IEEE.
2020
: 1698-1705
View details for
Web of Science ID 000717663401071
Scalable Collaborative Manipulation with Distributed Trajectory Planning
Shorinwa, O., Schwager, M., IEEE
IEEE.
2020
: 9108-9115
View details for
DOI 10.1109/IROS45743.2020.9340957
View details for
Web of Science ID 000724145803031
Game-Theoretic Planning for Risk-Aware Interactive Agents
Wang, M., Mehr, N., Gaidon, A., Mac Schwager, IEEE
IEEE.
2020
: 6998-7005
View details for
DOI 10.1109/IROS45743.2020.9341137
View details for
Web of Science ID 000724145801083
Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction
Nishimura, H., Ivanovic, B., Gaidon, A., Pavone, M., Schwager, M., IEEE
IEEE.
2020
: 11205-11212
View details for
DOI 10.1109/IROS45743.2020.9341469
View details for
Web of Science ID 000724145800133
Distributed Motion Control for Multiple Connected Surface Vessels
Wang, W., Wang, Z., Mateos, L., Huang, K., Schwager, M., Ratti, C., Rus, D., IEEE
IEEE.
2020
: 11658-11665
View details for
DOI 10.1109/IROS45743.2020.9340743
View details for
Web of Science ID 000724145801041
Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments
Senanayake, R., Toyungyernsub, M., Wang, M., Kochenderfer, M. J., Schwager, M., IEEE
IEEE.
2020
View details for
Web of Science ID 000682770700112
CinemAirSim: A Camera-Realistic Robotics Simulator for Cinematographic Purposes
Pueyo, P., Cristofalo, E., Montijano, E., Mac Schwager, IEEE
IEEE.
2020
: 1186-1191
View details for
DOI 10.1109/IROS45743.2020.9341066
View details for
Web of Science ID 000714033800005
GRAPE: Geometric Risk-Aware Pursuit-Evasion
ROBOTICS AND AUTONOMOUS SYSTEMS
Shah, K., Schwager, M.
2019
121
View details for
DOI 10.1016/j.robot.2019.07.016
View details for
Web of Science ID 000491214500008
Tracking a Markov Target in a Discrete Environment With Multiple Sensors
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Leahy, K., Schwager, M.
2019
64 (6)
: 2396–2411
View details for
DOI 10.1109/TAC.2018.2857760
View details for
Web of Science ID 000469913800014
Distributed multi-robot formation control in dynamic environments
AUTONOMOUS ROBOTS
Alonso-Mora, J., Montijano, E., Nageli, T., Hilliges, O., Schwager, M., Rus, D.
2019
43 (5)
: 1079–1100
View details for
DOI 10.1007/s10514-018-9783-9
View details for
Web of Science ID 000468274800002
Control in belief space with temporal logic specifications using vision-based localization
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Leahy, K., Cristofalo, E., Vasile, C., Jones, A., Montijano, E., Schwager, M., Belta, C.
2019
38 (6)
: 702–22
View details for
DOI 10.1177/0278364919846340
View details for
Web of Science ID 000468940000005
Consensus-based Distributed 3D Pose Estimation with Noisy Relative Measurements
Cristofalo, E., Montijano, E., Schwager, M., IEEE
IEEE.
2019
: 2646–53
View details for
Web of Science ID 000560779002073
Distributed Collision Avoidance of Multiple Robots with Probabilistic Buffered Voronoi Cells
Wang, M., Schwager, M.
edited by Sabattini, L.
IEEE.
2019
: 169-175
View details for
Web of Science ID 000614713600036
Cooperative Control of an Autonomous Floating Modular Structure Without Communication EXTENDED ABSTRACT
Wang, W., Mateos, L., Wang, Z., Huang, K., Schwager, M., Ratti, C., Rus, D.
edited by Sabattini, L.
IEEE.
2019
: 44-46
View details for
Web of Science ID 000614713600010
OuijaBots: Omnidirectional Robots for Cooperative Object Transport with Rotation Control Using No Communication
Wang, Z., Yang, G., Su, X., Schwager, M.
edited by Gross, R., Kolling, A., Berman, S., Frazzoli, E., Martinoli, A., Matsuno, F., Gauci, M.
SPRINGER INTERNATIONAL PUBLISHING AG.
2019
: 117–31
View details for
DOI 10.1007/978-3-319-73008-0_9
View details for
Web of Science ID 000552327000009
Multi-Robot Assembly Sequencing via Discrete Optimization
Culbertson, P., Bandyopadhyay, S., Schwager, M., IEEE
IEEE.
2019
: 6502–9
View details for
Web of Science ID 000544658405022
Trust But Verify: A Distributed Algorithm for Multi-Robot Wireframe Exploration and Mapping
Caccavale, A., Mac Schwager, IEEE
IEEE.
2019
: 3294–3301
View details for
Web of Science ID 000544658402110
Game Theoretic Planning for Self-Driving Cars in Competitive Scenarios
Wang, M., Wang, Z., Talbot, J., Gerdes, J., Schwager, M.
edited by Bicchi, A., KressGazit, H., Hutchinson, S.
MIT PRESS.
2019
View details for
Web of Science ID 000570976800047
Controlling Heterogeneous Stochastic Growth Processes on Lattices with Limited Resources
Haksar, R. N., Solowjow, F., Trimpe, S., Schwager, M., IEEE
IEEE.
2019
: 1315–22
View details for
Web of Science ID 000560779001045
Scalable Filtering of Large Graph-Coupled Hidden Markov Models
Haksar, R. N., Lorenzetti, J., Schwager, M., IEEE
IEEE.
2019
: 1307–14
View details for
Web of Science ID 000560779001044
Translational and Rotational Invariance in Networked Dynamical Systems
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
Vasile, C., Schwager, M., Belta, C.
2018
5 (3)
: 822–32
View details for
DOI 10.1109/TCNS.2017.2648499
View details for
Web of Science ID 000445357100001
Agile Coordination and Assistive Collision Avoidance for Quadrotor Swarms Using Virtual Structures
IEEE TRANSACTIONS ON ROBOTICS
Zhou, D., Wang, Z., Schwager, M.
2018
34 (4)
: 916–23
View details for
DOI 10.1109/TRO.2018.2857477
View details for
Web of Science ID 000442341000016
Controlling Noncooperative Herds with Robotic Herders
IEEE TRANSACTIONS ON ROBOTICS
Pierson, A., Schwager, M.
2018
34 (2)
: 517–25
View details for
DOI 10.1109/TRO.2017.2776308
View details for
Web of Science ID 000430595400017
Distributed Deep Reinforcement Learning for Fighting Forest Fires with a Network of Aerial Robots
Haksar, R. N., Schwager, M., Kosecka, J.
edited by Maciejewski, A. A., Okamura, A., Bicchi, A., Stachniss, C., Song, D. Z., Lee, D. H., Chaumette, F., Ding, H., Li, J. S., Wen, J., Roberts, J., Masamune, K., Chong, N. Y., Amato, N., Tsagwarakis, N., Rocco, P., Asfour, T., Chung, W. K., Yasuyoshi, Y., Sun, Y., Maciekeski, T., Althoefer, K., AndradeCetto, J., Chung, W. K., Demircan, E., Dias, J., Fraisse, P., Gross, R., Harada, H., Hasegawa, Y., Hayashibe, M., Kiguchi, K., Kim, K., Kroeger, T., Li, Y., Ma, S., Mochiyama, H., Monje, C. A., Rekleitis, Roberts, R., Stulp, F., Tsai, C. H., Zollo, L.
IEEE.
2018
: 1067–74
View details for
Web of Science ID 000458872701029
A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing
Spica, R., Falanga, D., Cristofalo, E., Montijano, E., Scaramuzza, D., Schwager, M.
edited by KressGazit, H., Srinivasa, S., Howard, T., Atanasov, N.
MIT PRESS.
2018
View details for
Web of Science ID 000570976700040
Controlling Large, Graph-based MDPs with Global Control Capacity Constraints: An Approximate LP Solution
Haksar, R. N., Schwager, M., IEEE
IEEE.
2018
: 35–42
View details for
Web of Science ID 000458114800005
Active Motion-Based Communication for Robots with Monocular Vision
Nishimura, H., Schwager, M., IEEE
IEEE COMPUTER SOC.
2018
: 2948–55
View details for
Web of Science ID 000446394502041
Decentralized Adaptive Control for Collaborative Manipulation
Culbertson, P., Schwager, M., IEEE
IEEE COMPUTER SOC.
2018
: 278–85
View details for
Web of Science ID 000446394500029
Safe Distributed Lane Change Maneuvers for Multiple Autonomous Vehicles Using Buffered Input Cells
Wang, M., Wang, Z., Paudel, S., Schwager, M., IEEE
IEEE COMPUTER SOC.
2018
: 4678–84
View details for
Web of Science ID 000446394503082
Cooperative Object Transport in 3D with Multiple Quadrotors using No Peer Communication
Wang, Z., Singh, S., Pavone, M., Schwager, M., IEEE
IEEE COMPUTER SOC.
2018
: 1064–71
View details for
Web of Science ID 000446394500113
Wireframe Mapping for Resource-Constrained Robots
Caccavale, A., Schwager, M., Kosecka, J.
edited by Maciejewski, A. A., Okamura, A., Bicchi, A., Stachniss, C., Song, D. Z., Lee, D. H., Chaumette, F., Ding, H., Li, J. S., Wen, J., Roberts, J., Masamune, K., Chong, N. Y., Amato, N., Tsagwarakis, N., Rocco, P., Asfour, T., Chung, W. K., Yasuyoshi, Y., Sun, Y., Maciekeski, T., Althoefer, K., AndradeCetto, J., Chung, W. K., Demircan, E., Dias, J., Fraisse, P., Gross, R., Harada, H., Hasegawa, Y., Hayashibe, M., Kiguchi, K., Kim, K., Kroeger, T., Li, Y., Ma, S., Mochiyama, H., Monje, C. A., Rekleitis, Roberts, R., Stulp, F., Tsai, C. H., Zollo, L.
IEEE.
2018
: 8658–65
View details for
Web of Science ID 000458872707108
Robust Adaptive Coverage Control for Robotic Sensor Networks
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
Schwager, M., Vitus, M. P., Powers, S., Rus, D., Tomlin, C. J.
2017
4 (3)
: 462-476
View details for
DOI 10.1109/TCNS.2015.2512326
View details for
Web of Science ID 000411203700006
Fast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells
IEEE ROBOTICS AND AUTOMATION LETTERS
Zhou, D., Wang, Z., Bandyopadhyay, S., Schwager, M.
2017
2 (2)
: 1047–54
View details for
DOI 10.1109/LRA.2017.2656241
View details for
Web of Science ID 000413736600088
Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders With Multiple Pursuers
IEEE ROBOTICS AND AUTOMATION LETTERS
Pierson, A., Wang, Z., Schwager, M.
2017
2 (2)
: 530–37
View details for
DOI 10.1109/LRA.2016.2645516
View details for
Web of Science ID 000413736600021
Adapting to sensing and actuation variations in multi-robot coverage
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Pierson, A., Figueiredo, L. C., Pimenta, L. C., Schwager, M.
2017
36 (3)
: 337-354
View details for
DOI 10.1177/0278364916688103
View details for
Web of Science ID 000401023100006
Localization of a Ground Robot by Aerial Robots for GPS-Deprived Control with Temporal Logic Constraints
Cristofalo, E., Leahy, K., Vasile, C., Montijano, E., Schwager, M., Belta, C.
edited by Kulic, D., Nakamura, Y., Khatib, O., Venture, G.
SPRINGER INTERNATIONAL PUBLISHING AG.
2017
: 525–37
View details for
DOI 10.1007/978-3-319-50115-4_46
View details for
Web of Science ID 000418796400046
Robust Adaptive Coverage for Robotic Sensor Networks
Schwager, M., Vitus, M. P., Rus, D., Tomlin, C. J.
edited by Christensen, H. I., Khatib, O.
SPRINGER-VERLAG BERLIN.
2017
View details for
DOI 10.1007/978-3-319-29363-9_25
View details for
Web of Science ID 000405326800025
Distributed Multi-Robot Localization from Acoustic Pulses Using Euclidean Distance Geometry
Halsted, T., Schwager, M.
edited by Giordano, P. R.
IEEE.
2017
View details for
Web of Science ID 000427919700015
Learning a Dynamical System Model for a Spatiotemporal Field Using a Mobile Sensing Robot
Lan, X., Schwager, M., IEEE
IEEE.
2017
: 170–75
View details for
Web of Science ID 000427033300027
Force-Amplifying N-robot Transport System (Force-ANTS) for cooperative planar manipulation without communication
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Wang, Z., Schwager, M.
2016
35 (13)
: 1564-1586
View details for
DOI 10.1177/0278364916667473
View details for
Web of Science ID 000385847500002
Rapidly Exploring Random Cycles: Persistent Estimation of Spatiotemporal Fields With Multiple Sensing Robots
IEEE TRANSACTIONS ON ROBOTICS
Lan, X., Schwager, M.
2016
32 (5)
: 1230-1244
View details for
DOI 10.1109/TRO.2016.2596772
View details for
Web of Science ID 000385180400013
Correlated Orienteering Problem and its Application to Persistent Monitoring Tasks
IEEE TRANSACTIONS ON ROBOTICS
Yu, J., Schwager, M., Rus, D.
2016
32 (5)
: 1106-1118
View details for
DOI 10.1109/TRO.2016.2593450
View details for
Web of Science ID 000385180400005
Flying Smartphones: When Portable Computing Sprouts Wings
IEEE PERVASIVE COMPUTING
Allen, R., Pavone, M., Schwager, M.
2016
15 (3)
: 83-88
View details for
DOI 10.1109/MPRV.2016.43
View details for
Web of Science ID 000380058900014
Vision-Based Distributed Formation Control Without an External Positioning System
IEEE TRANSACTIONS ON ROBOTICS
Montijano, E., Cristofalo, E., Zhou, D., Schwager, M., Saguees, C.
2016
32 (2)
: 339-351
View details for
DOI 10.1109/TRO.2016.2523542
View details for
Web of Science ID 000374306700007
Kinematic Multi-Robot Manipulation with no Communication Using Force Feedback
Wang, Z., Schwager, M.
edited by Okamura, A., Menciassi, A., Ude, A., Burschka, D., Lee, D., Arrichiello, F., Liu, H., Moon, H., Neira, J., Sycara, K., Yokoi, K., Martinet, P., Oh, P., Valdastri, P., Krovi
IEEE.
2016
: 427–32
View details for
Web of Science ID 000389516200054
Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus
Alonso-Mora, J., Montijano, E., Schwager, M., Rus, D.
edited by Okamura, A., Menciassi, A., Ude, A., Burschka, D., Lee, D., Arrichiello, F., Liu, H., Moon, H., Neira, J., Sycara, K., Yokoi, K., Martinet, P., Oh, P., Valdastri, P., Krovi
IEEE.
2016
: 5356-5363
View details for
Web of Science ID 000389516204083
Cooperative Multi-Quadrotor Pursuit of an Evader in an Environment with No-Fly Zones
Pierson, A., Ataei, A., Paschalidis, I., Schwager, M.
edited by Okamura, A., Menciassi, A., Ude, A., Burschka, D., Lee, D., Arrichiello, F., Liu, H., Moon, H., Neira, J., Sycara, K., Yokoi, K., Martinet, P., Oh, P., Valdastri, P., Krovi
IEEE.
2016
: 320-326
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Web of Science ID 000389516200042
Distributed Formation Control of Non-Holonomic Robots without a Global Reference Frame
Montijano, E., Cristofalo, E., Schwager, M., Sagues, C.
edited by Okamura, A., Menciassi, A., Ude, A., Burschka, D., Lee, D., Arrichiello, F., Liu, H., Moon, H., Neira, J., Sycara, K., Yokoi, K., Martinet, P., Oh, P., Valdastri, P., Krovi
IEEE.
2016
: 5248-5254
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Web of Science ID 000389516204070
Assistive Collision Avoidance for Quadrotor Swarm Teleoperation
Zhou, D., Schwager, M.
edited by Okamura, A., Menciassi, A., Ude, A., Burschka, D., Lee, D., Arrichiello, F., Liu, H., Moon, H., Neira, J., Sycara, K., Yokoi, K., Martinet, P., Oh, P., Valdastri, P., Krovi
IEEE.
2016
: 1249-1254
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Web of Science ID 000389516201019
A Multi-Resolution Approach for Discovery and 3-D Modeling of Archaeological Sites Using Satellite Imagery and a UAV-borne Camera
Ding, H., Cristofalo, E., Wang, J., Castanon, D., Montijano, E., Saligrama, V., Schwager, M., IEEE
IEEE.
2016
: 1359-1365
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Web of Science ID 000388376101067
Adaptive Inter-Robot Trust for Robust Multi-Robot Sensor Coverage
Pierson, A., Schwager, M.
edited by Inaba, M., Corke, P.
SPRINGER-VERLAG BERLIN.
2016
: 167-183
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DOI 10.1007/978-3-319-28872-7_10
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Web of Science ID 000386325300010
Q-Learning for Robust Satisfaction of Signal Temporal Logic Specifications
Aksaray, D., Jones, A., Kong, Z., Schwager, M., Belta, C., IEEE
IEEE.
2016
: 6565-6570
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Web of Science ID 000400048106123
Control in Belief Space with Temporal Logic Specifications
Vasile, C., Leahy, K., Cristofalo, E., Jones, A., Schwager, M., Belta, C., IEEE
IEEE.
2016
: 7419-7424
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Web of Science ID 000400048107101
Always Choose Second Best: Tracking a Moving Target on a Graph with a Noisy Binary Sensor
Leahy, K., Schwager, M., IEEE
IEEE.
2016
: 1715-1721
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Web of Science ID 000392695300285
Active Magnetic Anomaly Detection Using Multiple Micro Aerial Vehicles
IEEE ROBOTICS AND AUTOMATION LETTERS
Dames, P. M., Schwager, M., Rus, D., Kumar, V.
2016
1 (1)
: 153–60
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DOI 10.1109/LRA.2015.2511444
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Web of Science ID 000413719900021
Rebalancing the Rebalancers: Optimally Routing Vehicles and Drivers in Mobility-on-Demand Systems
American Control Conference (ACC)
Smith, S. L., Pavone, M., Schwager, M., Frazzoli, E., Rus, D.
IEEE.
2013
: 2362–2367
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Web of Science ID 000327210202087