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Articles in journal, book chapters

2015

  1. D. Yershov and E. Frazzoli. Asymptotically Optimal Feedback Planning using Numerical Hamilton-Jacobi-Bellman Solver and Adaptive Mesh Refinement. Int. Journal of Robotics Research, 2015. Note: Invited.[bibtex-entry]

2014

  1. J. Gregoire, X. Qian, E. Frazzoli, A. de La Fortelle, and T. Wongpiromsarn. Capacity-aware back-pressure traffic signal control. IEEE Trans. Control of Networked Systems, 2014. Note: To appear. [bibtex-entry]

  2. V. A. Huynh, S. Karaman, and E. Frazzoli. An Incremental Sampling-based Algorithm for Stochastic Optimal Control. Int. Journal of Robotics Research, 2014. Note: Submitted. [bibtex-entry]

  3. V. A. Huynh, L. Kogan, and E. Frazzoli. A Martingale Approach and Time-Consistent Sampling-based Algorithms for Risk Management in Stochastic Optimal Control. IEEE Trans. Automatic Control, 2014. Note: Submitted. [bibtex-entry]

  4. S. Karaman and E. Frazzoli. High-speed Flight in an Ergodic Forest. Int. Journal of Robotics Research, 2014. Note: Submitted. [bibtex-entry]

  5. K. Liu, H.B. Lim, E. Frazzoli, H. Ji, and V.C.S. Lee. Improving Positioning Accuracy Using GPS Pseudorange Measurements for Cooperative Vehicular Localization. IEEE Trans. on Vehicular Technologies, 63(6):2544-2556, 2014. [bibtex-entry]

  6. R.G. Sanfelice, S.Z. Yong, and E. Frazzoli. On Minimum-time Paths of Bounded Curvature with Position-dependent Constraints. Automatica, 50(2):537-546, 2014. [PDF] Keyword(s): Motion planning, Optimal Control. [bibtex-entry]

  7. K. Treleaven, J. Bialkowski, and E. Frazzoli. An $O(N \log N)$ Algorithm for Bipartite Matching with Roadmap Distances. ACM Transactions on Spatial Algorithms and Systems, 2014. Note: Submitted. [bibtex-entry]

  8. S.Z. Yong, M. Zhu, and E. Frazzoli. A unified filter for simultaneous input and state estimation for linear discrete-time stochastic systems. Automatica, 2014. Note: Provisionally accepted. [bibtex-entry]

  9. M. Zhu and E. Frazzoli. Distributed robust adaptive equilibrium computation for generalized convex games. Automatica, 2014. Note: Submitted. [bibtex-entry]

  10. G. Chowdhari, E. Frazzoli, J.P. How, and H. Liu. Nonlinear Flight Control Techniques for Unmanned Aerial Vehicles. In K.P. Valavanis and G.J. Vachtevanos, editors, Handbook of Unmanned Aerial Vehicles. Springer, 2014. Note: To appear. [bibtex-entry]

  11. J.J. Enright, E. Frazzoli, M. Pavone, and K. Savla. UAV Routing and Coordination in Stochastic and Dynamic Environments. In K.P. Valavanis and G.J. Vachtevanos, editors, Handbook of Unmanned Aerial Vehicles. Springer, 2014. Note: To appear. [bibtex-entry]

  12. J. How, E. Frazzoli, and G. Chowdhari. Flight Control and Guidance for Unmanned Aerial Vehicles. In K.P. Valavanis and G.J. Vachtevanos, editors, Handbook of Unmanned Aerial Vehicles. Springer, 2014. Note: To appear. [bibtex-entry]

  13. K. Spieser, K. Treleaven, R. Zhang, E. Frazzoli, D. Morton, and M. Pavone. Toward a Systematic Approach to the Design and Evaluation of Automated Mobility-on-Demand Systems: a Case Study in Singapore. In G. Meyer and S. Beiker, editors, Road Vehicle Automation, Lecture Notes in Mobility, pages 229-245. Springer, 2014. [WWW] Keyword(s): Autonomous Vehicles, Transportation networks, Vehicle Routing. [bibtex-entry]

2013

  1. G. Como, K. Savla, D. Acemoglu, M. A. Dahleh, and E. Frazzoli. Robust Distributed Routing in Dynamical Flow Networks - Part II: Strong Resilience, Equilibrium Selection and Cascaded Failures. IEEE Trans. Automatic Control, 58(2):333-348, 2013. Keyword(s): Transportation networks. [bibtex-entry]

  2. G. Como, K. Savla, D. Acemoglu, M. A. Dahleh, and E. Frazzoli. Robust Distributed Routing in Dynamical Flow Networks --- Part I: Locally Responsive Policies and Weak Resilience. IEEE Trans. Automatic Control, 58(2):317-332, 2013. Keyword(s): Transportation networks. [bibtex-entry]

  3. G. Como, K. Savla, D. Acemoglu, M. A. Dahleh, and E. Frazzoli. Stability analysis of transportation networks with multiscale driver decisions. SIAM Journal on Control and Optimization, 51(1):230-252, 2013. Keyword(s): Transportation networks. [bibtex-entry]

  4. K. Treleaven, M. Pavone, and E. Frazzoli. Asymptotically Optimal Algorithms for One-to-one Pickup and Delivery Problems with Applications to Transportation Systems. IEEE Trans. Automatic Control, 58(9):2261-2276, 2013. [PDF] Keyword(s): Transportation networks. [bibtex-entry]

  5. T. Wongpiromsarn, T. Uthaicharoenpong, E. Frazzoli, Y. Wang, and D. Wang. Throughput Optimal Distributed Traffic Signal Control. IEEE Trans. Automatic Control, 2013. Note: Submitted. Keyword(s): Transportation networks. [bibtex-entry]

  6. N. Xiao, X. Wang, T. Wongpiromsarn, L. Xie, E. Frazzoli, and D. Rus. Road Pricing Design Based on Game Theory and Multi-Agent Consensus. Acta Automatica Sinica, 2013. Keyword(s): Transportation networks. [bibtex-entry]

  7. J. Bialkowski, M. Otte, S. Karaman, and Frazzoli E.. Efficient Collision Checking in Sampling-based Motion Planning. In Algorithmic Foundations of Robotics X, volume 69 of Springer Tracts in Advanced Robotics. Springer Berlin / Heidelberg, 2013. Keyword(s): Motion planning. [bibtex-entry]

  8. E. Frazzoli and M. Pavone. Multi-Vehicle Routing. In T. Samad and J. Baillieul, editors, Encyclopedia on Systems and Control. Springer, 2013. [WWW] [bibtex-entry]

2012

  1. D. V. Dimarogonas, E. Frazzoli, and K.H. Johansson. Distributed Event-triggered control for Multi-Agent Systems. IEEE Trans. Automatic Control, 57(5):1291-1297, 2012. [bibtex-entry]

  2. S. Karaman, T. Shima, and E. Frazzoli. A process algebra genetic algorithm. IEEE Trans. Evolutionary Computation, 16(4):489-503, 2012. [bibtex-entry]

  3. J. Le Ny, E. Feron, and E. Frazzoli. On the Dubins Traveling Salesman Problem. IEEE Trans. on Automatic Control, 57(1):265-270, 2012. [Abstract] [bibtex-entry]

  4. M. Pavone, S. L. Smith, E. Frazzoli, and D. Rus. Robotic Load Balancing for Mobility-on-Demand Systems. Int. Journal of Robotics Research, 31(7):839-854, May 2012. [bibtex-entry]

  5. K. Savla and E. Frazzoli. A dynamical queue approach to intelligent task management for human operators. Proceedings of the IEEE, 100(3), 2012. [bibtex-entry]

  6. E. Frazzoli. Personal Urban Mobility Concepts. In U. Meister, editor, Vision 2030: So leben, arbeiten und kommunizieren wir im Jahr 2030. Gabal, 2012. [bibtex-entry]

2011

  1. F. Bullo, E. Frazzoli, M. Pavone, K. Savla, and S. Smith. Dynamic Vehicle Routing for Robotic Systems. Proceedings of the IEEE, 99(9):1482-1504, 2011. [bibtex-entry]

  2. S. Karaman and E. Frazzoli. Sampling-based Algorithms for Optimal Motion Planning. Int. Journal of Robotics Research, 30(7):846-894, June 2011. [PDF] Keyword(s): Motion planning. [bibtex-entry]

  3. M. Pavone, A. Arsie, E. Frazzoli, and F. Bullo. Distributed Algorithms for Environment Partitioning in Mobile Robotic Networks. IEEE Trans. on Automatic Control, 56(8):1834-1848, 2011. [bibtex-entry]

  4. M. Pavone, E. Frazzoli, and F. Bullo. Adaptive and Distributed Algorithms for Vehicle Routing in a Stochastic and Dynamic Environment. IEEE Trans. on Automatic Control, 56(6):1259-1274, 2011. [bibtex-entry]

  5. E. Velenis, D. Katzourakis, E. Frazzoli, P. Tsiotras, and R. Happee. Steady-State Drifting Stabilization of RWD Vehicles. Control Engineering Practice, 19(11):1363-1376, 2011. [bibtex-entry]

2010

  1. G. Como, K. Savla, D. Acemoglu, M.A. Dahleh, and E. Frazzoli. Distributed Robust Routing Policies for Dynamical Flow Networks. IEEE Trans. Automatic Control, 2010. Note: Submitted. [bibtex-entry]

  2. J.L. Ramirez, M. Pavone, E. Frazzoli, and D.W. Miller. Distributed Control of Spacecraft Formations via Cyclic Pursuit: Theory and Experiments. AIAA J. of Guidance, Control, and Dynamics, 33(5):1655-1669, 2010. [bibtex-entry]

  3. K. Savla and E. Frazzoli. Maximally Stabilizing Admission Control Policy for a Dynamical Queue. IEEE Trans. on Automatic Control, 55(11):2655-2660, 2010. Note: Available at \texttthttp://arxiv.org/abs/0909.3651. Keyword(s): Queueing Theory, Humans and Automation. [bibtex-entry]

  4. K. Savla and E. Frazzoli. Maximally Stabilizing Task Release Control Policy for a Dynamical Queue. IEEE Trans. Automatic Control, 55(11):2655-2660, 2010. Keyword(s): Queueing Theory, Humans and Automation. [bibtex-entry]

  5. S. Smith, M. Pavone, F. Bullo, and E. Frazzoli. Dynamic Vehicle Routing with Priority Classes of Stochastic Demands. SIAM J. Control and Optimization, 48(5):3224-3245, January 2010. [bibtex-entry]

  6. E. Velenis, E. Frazzoli, and P. Tsiotras. Steady-State Cornering Equilibria and Stabilization for a Vehicle During Extreme Operating Conditions.. Int. Journal of Vehicle Autonomous Systems, 8(2--4):217-241, 2010. [bibtex-entry]

2009

  1. A. Arsie, K. Savla, and E. Frazzoli. Efficient routing algorithms for multiple vehicles with no explicit communications. IEEE Trans. on Automatic Control, 54(10):2302-2317, 2009. [PDF] Keyword(s): Robotic Networks. [Abstract] [bibtex-entry]

  2. J. J. Enright, K. Savla, E. Frazzoli, and F. Bullo. Stochastic and Dynamic Routing Problems for multiple UAVs. AIAA J. of Guidance, Control, and Dynamics, 32(4):1152-1166, 2009. [PDF] [bibtex-entry]

  3. Y. Kuwata, J. Teo, G. Fiore, S. Karaman, E. Frazzoli, and J.P. How. Real-time Motion Planning with Applications to Autonomous Urban Driving. IEEE Trans. on Control Systems Technologies, 17(5):1105-1118, 2009. [PDF] [bibtex-entry]

  4. M. Pavone, N. Bisnik, E. Frazzoli, and V. Isler. A Stochastic and Dynamic Vehicle Routing Problem with Time Windows and Customer Impatience. ACM/Springer Mobile Networks and Applications Journal, 14(3):350-364, 2009. [PDF] [bibtex-entry]

  5. M. Pavone, K. Savla, and E. Frazzoli. Sharing the Load. IEEE Robotics and Automation Magazine, 16(2):52-61, 2009. [PDF] [bibtex-entry]

  6. K. Savla, F. Bullo, and E. Frazzoli. Traveling Salesperson Problems for a double integrator. IEEE Trans. on Automatic Control, 54(4):788-793, 2009. Keyword(s): Vehicle Routing. [bibtex-entry]

2008

  1. P. Cheng, E. Frazzoli, and S. LaValle. Improving the Performance of Sampling-Based Motion Planning with Symmetry-Based Gap Reduction. IEEE Trans. on Robotics, 24(2):488-494, April 2008. [PDF] Keyword(s): Motion Planning. [bibtex-entry]

  2. E. Frazzoli. Discussion on ``Optimality Properties and Driver Input Parameterization for Trail-Braking Cornering. European Journal of Control, 14(4):321-324, July-August 2008. [bibtex-entry]

  3. J. Leonard, J. How, S. Teller, M. Berger, S. Campbell, G. Fiore, L. Fletcher, E. Frazzoli, A. Huang, S. Karaman, O. Koch, Y. Kuwata, D. Moore, E. Olson, S. Peters, J. Teo, R. Truax, M. Walter, D. Barrett, A. Epstein, K. Maheloni, K. Moyer, T. Jones, R. Buckley, M. Antone, R. Galejs, S. Krishnamurthy, and J. Williams.. A Perception Driven Autonomous Urban Vehicle. Journal of Field Robotics, 25(10):725-860, September 2008. [PDF] [bibtex-entry]

  4. K. Savla, E. Frazzoli, and F. Bullo. Traveling Salesperson Problems for the Dubins vehicle. IEEE Trans. on Automatic Control, 53(6):1378-1391, 2008. [PDF] Keyword(s): Motion Planning, Robotics, Vehicle Routing. [bibtex-entry]

  5. L. Stirling, A. Arsie, K. Willcox, E. Frazzoli, and D. Newman. Application of Quantized Control and Optimal Control to Human Reorientation Maneuvers in Microgravity. Journal of Biomechanics, 2008. Note: Submitted. [bibtex-entry]

  6. A. Arsie, J. J. Enright, and E. Frazzoli. On the Value of Information in Dynamic Multiple-Vehicle Routing Problems. In J. Shamma, editor, Cooperative Control of Distributed Multi-Agent Systems, pages 139-176. John Wiley & Sons, 2008. [PDF] Keyword(s): Vehicle Routing, Robotic Networks. [bibtex-entry]

  7. A. Bhatia and E. Frazzoli. Sampling-Based Resolution-Complete Algorithms for Safety Falsification of Linear Systems. In M. Egerstedt and B. Mishra, editors, Hybrid Systems: Computation and Control, volume 4981/2008 of Lecture Notes in Computer Science, pages 606-609. Springer Verlag, St. Louis, MO, 2008. [PDF] Keyword(s): Embedded Software Verification. [Abstract] [bibtex-entry]

  8. M. Roozbehani, A. Megretski, E. Frazzoli, and E. Feron. Distributed Lyapunov Functions in Analysis of Graph Models of Software. In M. Egerstedt and B. Mishra, editors, Hybrid Systems: Computation and Control, volume 4981/2008 of Lecture Notes in Computer Science, pages 443-456. Springer Verlag, St. Louis, MO, 2008. [PDF] Keyword(s): Embedded Software Verification. [Abstract] [bibtex-entry]

  9. R. Sanfelice and E. Frazzoli. On the optimality of Dubins paths across heterogeneous terrain. In M. Egerstedt and B. Mishra, editors, Hybrid Systems: Computation and Control, volume 4981/2008 of Lecture Notes in Computer Science, pages 457-470. Springer Verlag, St. Louis, MO, 2008. [PDF] Keyword(s): Hybrid Systems, Optimal Control. [Abstract] [bibtex-entry]

2007

  1. A. Arsie and E. Frazzoli. Efficient Routing of Multiple Vehicles with No Explicit Communications. International Journal of Robust and Nonlinear Control, 18(2):154-164, January 2007. [PDF] Keyword(s): Robotic Networks. [Abstract] [bibtex-entry]

  2. C. Belta, A. Bicchi, M. Egerstedt, E. Frazzoli, E. Klavins, and G. J. Pappas. Symbolic Planning and Control of Robot Motion. IEEE Robotics and Automation Magazine, 14(1):61-70, March 2007. [PDF] Keyword(s): Symbolic Control, Robotics. [bibtex-entry]

  3. E. Frazzoli. Rush hour 2. Control and Automation, 18(6):32-35, 2007. Keyword(s): Robotics. [Abstract] [bibtex-entry]

  4. S. Martýnez, F. Bullo, J. CortÚs, and E. Frazzoli. On Synchronous Robotic Networks --- Part I: Models, Tasks and Complexity. IEEE Trans. on Automatic Control, 52(12):2199-2213, December 2007. [PDF] Keyword(s): Robotic Networks. [bibtex-entry]

  5. S. Martýnez, F. Bullo, J. CortÚs, and E. Frazzoli. On Synchronous Robotic Networks --- Part II: Time Complexity of Rendezvous and Deployment Algorithms. IEEE Trans. on Automatic Control, 52(12):2214-2226, December 2007. [PDF] Keyword(s): Robotic Networks. [bibtex-entry]

  6. L. Pallottino, V.G. Scordio, E. Frazzoli, and A. Bicchi. Decentralized cooperative policy for conflict resolution in multi-vehicle systems. IEEE Trans. on Robotics, 23(6):1170-1183, December 2007. [PDF] Keyword(s): Air Traffic Control, Robotic Networks. [bibtex-entry]

  7. M. Pavone and E. Frazzoli. Decentralized policies for geometric pattern formation and path coverage. ASME J. of Dynamic Systems, Measurement, and Control, 129(5):633-643, September 2007. [PDF] Keyword(s): Robotic Networks, UAVs/Autonomous Systems. [Abstract] [bibtex-entry]

  8. V. Sharma, M. Savchenko, E. Frazzoli, and P. Voulgaris. Transfer Time Complexity of Conflict-Free Vehicle Routing with No Communications. International Journal of Robotics Research, 26(3):255-272, March 2007. [PDF] Keyword(s): Robotic Networks. [Abstract] [bibtex-entry]

  9. A. Arsie and E. Frazzoli. Groupoids in control systems and the reachability problem for a class of quantized control systems with nonabelian symmetries. In A. Bemporad, A. Bicchi, and G. Buttazzo, editors, Hybrid Systems: Computation and Control, volume 4416/2007 of Lecture Notes in Computer Science, pages 18-31. Springer-Verlag, Pisa, Italy, 2007. [PDF] [Abstract] [bibtex-entry]

2006

  1. M. Egerstedt, E. Frazzoli, and G. Pappas. Special Section on Symbolic Methods for Complex Control Systems. IEEE Trans. on Automatic Control, 51(6):921-923, June 2006. Note: Guest Editorial. [PDF] [bibtex-entry]

  2. R. Mason, J. Radford, D. Kumar, R. Walters, B. Fulkerson, E. Jones, D. Caldwell, J. Meltzer, Y. Alon, A. Shashua, H. Hattori, N. Takeda, E. Frazzoli, and S. Soatto. The Golem Group / UCLA Autonomous Ground Vehicle in the DARPA Grand Challenge. Journal of Field Robotics, 23(8):527-553, August 2006. Keyword(s): Robotics, UAVs/Autonomous Systems. [bibtex-entry]

  3. R. Olfati-Saber, E. Franco, E. Frazzoli, and J.S. Shamma. Belief Consensus and Distributed Hypothesis Testing in Sensor Networks. In P.J. Antsaklis and P. Tabuada, editors, Network Embedded Sensing and Control, volume 331 of Lecture Notes in Computer Science, pages 169-182. Springer-Verlag, 2006. [PDF] Keyword(s): Sensor Networks. [bibtex-entry]

  4. K. Savla, E. Frazzoli, and F. Bullo. On the Dubins Traveling Salesperson Problem: novel approximation algorithms. In Robotics: Science and Systems II. MIT Press, Cambridge, MA, 2006. [PDF] [Abstract] [bibtex-entry]

2005

  1. A.J. Dorgan, E. Loth, and E. Frazzoli. Autonomous control of micro-aircraft vehicles falling through an atmospheric boundary layer. AIAA Journal, 43(4):768-775, March 2005. [PDF] Keyword(s): Flight Control. [Abstract] [bibtex-entry]

  2. E. Frazzoli, M. A. Dahleh, and E. Feron. Maneuver-Based Motion Planning for Nonlinear Systems with Symmetries. IEEE Trans. on Robotics, 21(6):1077-1091, December 2005. [PDF] Keyword(s): Motion Planning, Robotics. [bibtex-entry]

  3. V. Sharma, M. Savchenko, E. Frazzoli, and P. Voulgaris. Time Complexity of Sensor-Based Vehicle Routing. In S. Thrun, G. S. Sukhatme, and S. Schaal, editors, Robotics: Science and Systems I, pages 297-304. MIT Press, Cambridge, MA, 2005. [PDF] Keyword(s): Robotic Networks. [bibtex-entry]

2004

  1. V. Sharma, P. G. Voulgaris, and E. Frazzoli. Aircraft Autopilot Analysis and Envelope Protection for Operation under Icing Conditions. AIAA Journal of Guidance, Control, and Dynamics, 27(3):454-465, 2004. [PDF] Keyword(s): Flight Control. [Abstract] [bibtex-entry]

  2. A. Bhatia and E. Frazzoli. Incremental Search Methods for Reachability Analysis of Continuous and Hybrid Systems. In R. Alur and G. J. Pappas, editors, Hybrid Systems: Computation and Control, number 2993 of Lecture Notes in Computer Science, pages 142-156. Springer-Verlag, Philadelphia, PA, March 2004. [PDF] Keyword(s): Hybrid Systems, Embedded Software Verification. [Abstract] [bibtex-entry]

2003

  1. E. Frazzoli. Quasi-Random Algorithms for Real-Time Motion Planning and Coordination. Acta Astronautica, 54(4--10):485-495, 2003. [PDF] Keyword(s): Motion Planning, UAVs/Autonomous Systems. [bibtex-entry]

  2. E. Frazzoli, M. A. Dahleh, and E. Feron. A Maneuver-Based Hybrid Control Architecture for Autonomous Vehicle Motion Planning,. In T. Samad and G. Balas, editors, Software Enabled Control: Information Technology for Dynamical Systems. Wiley-IEEE Press, 2003. Keyword(s): Hybrid Systems, Motion Planning. [Abstract] [bibtex-entry]

2002

  1. E. Frazzoli, M. A. Dahleh, and E. Feron. Real-Time Motion Planning for Agile Autonomous Vehicles. AIAA Journal of Guidance, Control, and Dynamics, 25(1):116-129, 2002. [PDF] Keyword(s): Motion Planning, Robotics, UAVs/Autonomous Systems. [bibtex-entry]

  2. N. Elia and E. Frazzoli. Quantized Stabilization of Two-Input Linear Systems: a Lower Bound on the Minimal Quantization Density. In C. J. Tomlin and M. R. Greenstreet, editors, Hybrid Systems: Computation and Control, number 2289 of Lecture Notes in Computer Science, pages 179-193. Springer-Verlag, Palo Alto, CA, March 2002. Keyword(s): Hybrid Systems, Quantized Control. [bibtex-entry]

2001

  1. E. Frazzoli, Z. H. Mao, J. H. Oh, and E. Feron. Aircraft Conflict Resolution Via Semi-Definite Programming. AIAA J. of Guidance, Control, and Dynamics, 24(1):79-86, 2001. Keyword(s): Air Traffic Control. [bibtex-entry]

  2. V. Gavrilets, E. Frazzoli, B. Mettler, M. Piedmonte, and E. Feron. Aggressive Maneuvering of Small Autonomous Helicopters: A Human-Centered Approach. International Journal of Robotics Research, 20(10):795-807, 2001. [PDF] Keyword(s): Flight Control. [bibtex-entry]

1999

  1. E. Frazzoli, M. A. Dahleh, and E. Feron. A Hybrid Control Architecture for Aggressive Maneuvering of Autonomous Aerial Vehicles. In T. Djaferis and I. Schick, editors, Advances in Systems Theory. Kluwer Academic Publisher, 1999. Keyword(s): Motion Planning, Quantized Control. [bibtex-entry]

1996

  1. E. Frazzoli, G.B. Palmerini, and F. Graziani. Debris Cloud Evolution: Mathematical Modeling And Application To Satellite Constellation Design. Acta Astronautica, 39(6):439-445, 1996. [bibtex-entry]


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