2021

Learning Risk-aware Costmaps for Traversability in Challenging Environments

DD Fan, AA Agha-Mohammadi, EA Theodorou

Submitted. (arxiv, pdf)

Safe Robot Planning and Control Using Uncertainty-Aware Deep Learning

DD Fan

PhD Dissertation (website, pdf, defense presentation)

STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation

DD Fan, K Otsu, Y Kubo, A Dixit, J Burdick, AA Agha-Mohammadi

Robotics: Science and Systems (RSS) (website, pdf, arxiv, video, spotlight talk)

NeBula: Quest for Robotic Autonomy in Challenging Environments - Team CoSTAR at the DARPA Subterranean Challenge

AA Agha-Mohammadi, K Otsu, B Morrell, DD Fan, R Thakker, A Santamaria-Navarro, et al.

Field Robotics, Special Issue (arxiv, pdf, video)

Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions

R Thakker, N Alatur, DD Fan, J Tordesillas, M Paton, K Otsu, O Toupet, AA Agha-Mohammadi

Experimental Robotics: The 17th International Symposium (ISER) (arxiv, pdf, video)

PLGRIM: Hierarchical Value Learning for Large-Scale Exploration in Unknown Environments

SK Kim, A Bouman, G Salhotra, DD Fan, K Otsu, J Burdick, AA Agha-Mohammadi

Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS) (website, pdf)

2020

Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion (Best Paper Award)

Bouman A, Ginting MF, Alatur N, Palieri M, Fan DD, Touma T, Pailevanian T, Kim SK, Otsu K, Burdick J, Agha-Mohammadi AA

International Conference on Intelligent Robots and Systems (IROS) (arxiv, pdf, video)

Deep Learning Tubes for Tube MPC

DD Fan, A Agha-mohammadi, EA Theodorou

Robotics: Science and Systems (RSS) (website, pdf, arxiv, spotlight talk)

Bayesian Learning-Based Adaptive Control for Safety Critical Systems

Fan DD, Nguyen J, Thakker R, Alatur N, Agha-mohammadi AA, Theodorou EA

International Conference on Robotics and Automation (ICRA) (arxiv, pdf, video, code)

Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments

DD Fan, R Thakker, T Bartlett, MB Miled, L Kim, E Theodorou, AA Agha-mohammadi

International Conference on Intelligent Robots and Systems (IROS) (website, pdf, video)

Towards Resilient Autonomous Navigation of Drones

A Santamaria-Navarro, R Thakker, DD Fan, B Morrell, AA Agha-mohammadi

International Symposium on Robotics Research (ISRR) (arxiv, pdf)

Schrödinger Approach to Optimal Control of Large-Size Populations

K Bakshi, DD Fan, EA Theodorou

Transactions on Automatic Control (website, pdf)

Earlier Selected Publications

Contact Inertial Odometry: Collisions are your friend (2019)

Lew T, Emmei T, Fan DD, Bartlett T, Santamaria-Navarro A, Thakker R, Agha-mohammadi AA.

International Symposium on Robotics Research (ISRR) (arxiv, pdf, video)

Model-Based Stochastic Search for Large Scale Optimization of Multi-agent UAV Swarms (2018)

DD Fan, EA Theodorou, J Reeder

IEEE Symposium Series on Computational Intelligence (SSCI) (arxiv, pdf, video, code)

MPC-Inspired Neural Network Policies for Sequential Decision Making (2018)

M Pereira, DD Fan, GN An, E Theodorou

arXiv preprint (arxiv, pdf)

Evolving Cost Functions for Model Predictive Control of Multi-Agent UAV Combat Swarms (2017)

DD Fan, E Theodorou, J Reeder

Genetic and Evolutionary Computation Conference (GECCO) (website, video)

Stochastic Control of Systems with Control Multiplicative Noise Using Second Order FBSDEs (2017)

KS Bakshi, DD Fan, EA Theodorou

American Control Conference (ACC) (website, pdf)

Differential Dynamic Programming for Time-Delayed Systems (2016)

DD Fan, EA Theodorou

Conference on Decision and Control (CDC) (website, pdf)

Mechanisms of Action Selection and Timing in Substantia Nigra Neurons (2012)

DD Fan, MA Rossi, HH Yin

Journal of Neuroscience (website, pdf)

A Wireless Multi-Channel Recording System for Freely Behaving Mice and Rats (2011)

DD Fan, D Rich, T Holtzman, P Ruther, JW Dalley, A Lopez, MA Rossi, et al.

PloS one (website, pdf)

David D. Fan