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Publications of year 2012

Thesis

  1. S. Karaman. Sampling-based Algorithms for Optimal Path Planning Problems. PhD thesis, Massachusetts Institute of Technology, Cambridge, MA, 2012. [PDF] Keyword(s): Motion planning.
    @phdthesis{Karaman.PhD12,
    Address = {Cambridge, MA},
    Author = {S. Karaman},
    Date-Added = {2012-08-26 16:47:17 +0000},
    Date-Modified = {2013-10-03 21:47:29 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744, NSF-CNS-1016213, ARO-MURI-W911NF-11-1-0046, ONR-MURI-N00014-09-1-1051},
    Keywords = {Motion planning},
    School = {Massachusetts Institute of Technology},
    Title = {Sampling-based Algorithms for Optimal Path Planning Problems},
    Url = {http://ares.lids.mit.edu/papers/Karaman.PhD12.pdf},
    Year = {2012},
    Bdsk-Url-1 = {http://ares.lids.mit.edu/papers/Karaman.PhD12.pdf}
    }
    

Articles in journal, book chapters

  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.
    @article{Dimarogonas.Frazzoli.ea:TAC10,
    Author = {D.~V. Dimarogonas and E. Frazzoli and K.H. Johansson},
    Date-Added = {2011-01-19 23:22:17 -0500},
    Date-Modified = {2013-08-06 03:31:47 +0000},
    Funding = {None},
    Journal = {IEEE Trans. Automatic Control},
    Number = {5},
    Pages = {1291--1297},
    Title = {Distributed Event-triggered control for Multi-Agent Systems},
    Volume = {57},
    Year = {2012}
    }
    

  2. S. Karaman, T. Shima, and E. Frazzoli. A process algebra genetic algorithm. IEEE Trans. Evolutionary Computation, 16(4):489-503, 2012.
    @article{Karaman.Shima.ea:TEC12,
    Author = {S. Karaman and T. Shima and E. Frazzoli},
    Date-Added = {2012-01-27 03:44:58 +0000},
    Date-Modified = {2013-08-06 03:32:25 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Journal = {IEEE Trans. Evolutionary Computation},
    Number = {4},
    Pages = {489--503},
    Title = {A process algebra genetic algorithm},
    Volume = {16},
    Year = {2012}
    }
    

  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.

    We study the traveling salesman problem for a Dubins car. We prove that this problem is NP-hard, and provide lower bounds on the approximation ratio achievable by some recently proposed heuristics. In particular, the approximation ratio achievable by any algorithm that always follows the order optimal for the Euclidean metric is \Omega(n). We also describe new algorithms for this problem based on heading discretization, and evaluate their performance numerically.


  4. @article{LeNy.Feron.ea:TAC09,
    Abstract = {We study the traveling salesman problem for a Dubins car. We prove that this problem is NP-hard, and provide lower bounds on the approximation ratio achievable by some recently proposed heuristics. In particular, the approximation ratio achievable by any algorithm that always follows the order optimal for the Euclidean metric is \Omega(n). We also describe new algorithms for this problem based on heading discretization, and evaluate their performance numerically. },
    Author = {J.~{Le Ny} and E.~Feron and E.~Frazzoli},
    Date-Added = {2008-07-23 09:31:59 -0400},
    Date-Modified = {2014-05-28 19:13:17 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Journal = {IEEE Trans. on Automatic Control},
    Number = {1},
    Pages = {265--270},
    Title = {On the {Dubins} {Traveling} {S}alesman {P}roblem},
    Volume = {57},
    Year = {2012}
    }
    

  5. 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.
    @article{Pavone.Smith.ea:IJRR12,
    Author = {M. Pavone and S.~L. Smith and E. Frazzoli and D. Rus},
    Date-Added = {2012-01-27 04:46:49 +0000},
    Date-Modified = {2014-03-11 18:34:32 +0000},
    Journal = {Int. Journal of Robotics Research},
    Month = {May},
    Number = {7},
    Pages = {839--854},
    Title = {Robotic Load Balancing for Mobility-on-Demand Systems},
    Volume = {31},
    Year = {2012}
    }
    

  6. K. Savla and E. Frazzoli. A dynamical queue approach to intelligent task management for human operators. Proceedings of the IEEE, 100(3), 2012.
    @article{Savla.Frazzoli:PIEEE10,
    Author = {K. Savla and E. Frazzoli},
    Date-Modified = {2013-08-06 03:30:02 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Journal = {Proceedings of the IEEE},
    Number = {3},
    Title = {A dynamical queue approach to intelligent task management for human operators},
    Volume = {100},
    Year = {2012}
    }
    

  7. E. Frazzoli. Personal Urban Mobility Concepts. In U. Meister, editor, Vision 2030: So leben, arbeiten und kommunizieren wir im Jahr 2030. Gabal, 2012.
    @incollection{Frazzoli:12,
    Author = {E. Frazzoli},
    Booktitle = {Vision 2030: So leben, arbeiten und kommunizieren wir im Jahr 2030},
    Date-Added = {2014-01-23 16:12:28 +0000},
    Date-Modified = {2014-01-23 16:14:06 +0000},
    Editor = {U. Meister},
    Publisher = {Gabal},
    Title = {Personal Urban Mobility Concepts},
    Year = {2012}
    }
    

Conference articles

  1. T. Bandyopadhyay, Z. J. Chong, D. Hsu, M. Ang, D. Rus, and E. Frazzoli. Intention-Aware Pedestrian Avoidance. In International Symposium on Experimental Robotics (ISER), 2012. Keyword(s): Motion planning.
    @conference{Bandyopadhyay.Chong.ea:ISER12,
    Author = {T. Bandyopadhyay and Z. J. Chong and D. Hsu and M. Ang and D. Rus and E. Frazzoli},
    Booktitle = {International Symposium on Experimental Robotics (ISER)},
    Date-Added = {2012-05-26 04:26:47 +0000},
    Date-Modified = {2013-10-03 21:47:29 +0000},
    Keywords = {Motion planning},
    Title = {Intention-Aware Pedestrian Avoidance},
    Year = {2012}
    }
    

  2. T. Bandyopadhyay, K. S. Won, E. Frazzoli, D. Hsu, W. S. Lee, and D. Rus. Intention-Aware Motion Planning. In Workshop on Algorithmic Foundations of Robotics (WAFR), 2012. Keyword(s): Motion planning.
    @conference{Bandyopadhyay.Won.ea:WAFR12,
    Author = {T. Bandyopadhyay and K. S. Won and E. Frazzoli and D. Hsu and W. S. Lee and D. Rus},
    Booktitle = {Workshop on Algorithmic Foundations of Robotics (WAFR)},
    Date-Added = {2012-05-26 04:24:47 +0000},
    Date-Modified = {2013-10-03 21:47:29 +0000},
    Keywords = {Motion planning},
    Title = {Intention-Aware Motion Planning},
    Year = {2012}
    }
    

  3. K. T. Bui, V. A. Huynh, and E. Frazzoli. Dynamic Traffic Congestion Pricing Mechanism with User-Centric Considerations. In Intelligent Transportation Systems Conference, 2012.
    @conference{Bui.Huynh.ea:ITSC12,
    Author = {K. T. Bui and V. A. Huynh and E. Frazzoli},
    Booktitle = {Intelligent Transportation Systems Conference},
    Date-Added = {2012-05-26 04:19:17 +0000},
    Date-Modified = {2013-08-07 05:00:32 +0000},
    Title = {Dynamic Traffic Congestion Pricing Mechanism with User-Centric Considerations},
    Year = {2012}
    }
    

  4. P. Chaudhari, S. Karaman, and E. Frazzoli. Sampling-based Algorithm for Filtering using Markov chain Approximations. In IEEE Conf. on Decision and Control, Maui, HI, 2012. [PDF] Keyword(s): Motion planning.
    @conference{Chaudhari.Karaman.ea:CDC12,
    Address = {Maui, HI},
    Author = {P. Chaudhari and S. Karaman and E. Frazzoli},
    Booktitle = {{IEEE} Conf. on Decision and Control},
    Date-Added = {2012-07-21 15:48:44 +0000},
    Date-Modified = {2013-10-03 21:47:29 +0000},
    Funding = {ARO-MURI-W911NF-11-1-0046},
    Keywords = {Motion planning},
    Title = {Sampling-based Algorithm for Filtering using Markov chain Approximations},
    Url = {http://ares.lids.mit.edu/papers/Chaudhari.Karaman.ea.CDC12.pdf},
    Year = {2012},
    Bdsk-Url-1 = {http://ares.lids.mit.edu/papers/Chaudhari.Karaman.ea.CDC12.pdf}
    }
    

  5. G. Como, K. Savla, D. Acemoglu, M. A. Dahleh, and E. Frazzoli. Robust Distributed Routing in Dynamical Networks with Cascading Failures. In IEEE Conf. on Decision and Control, Maui, HI, pages 7413-7418, 2012.
    @conference{Como.Savla.ea:CDC12,
    Address = {Maui, HI},
    Author = {G. Como and K. Savla and D. Acemoglu and M. A. Dahleh and E. Frazzoli},
    Booktitle = {{IEEE} Conf. on Decision and Control},
    Date-Added = {2012-07-21 15:47:23 +0000},
    Date-Modified = {2013-10-03 21:36:46 +0000},
    Pages = {7413--7418},
    Title = {Robust Distributed Routing in Dynamical Networks with Cascading Failures},
    Year = {2012}
    }
    

  6. J. J. Enright and E. Frazzoli. Optimal Foraging of Renewable Resources. In Proc. American Control Conf., 2012.
    @conference{Enright.Frazzoli:ACC12,
    Author = {J.~J. Enright and E. Frazzoli},
    Booktitle = {Proc. American Control Conf.},
    Date-Added = {2012-01-27 04:55:25 +0000},
    Date-Modified = {2013-08-06 03:29:05 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Title = {Optimal Foraging of Renewable Resources},
    Year = {2012}
    }
    

  7. D. Feijer, K. Savla, and E. Frazzoli. Strategic Dynamic Vehicle Routing with Spatio-Temporal Dependent Demands. In American Control Conference, Montreal, Canada, 2012. Keyword(s): Vehicle Routing.
    @conference{Feijer.Savla.ea.ACC12,
    Address = {Montreal, Canada},
    Author = {D. Feijer and K. Savla and E. Frazzoli},
    Booktitle = {American Control Conference},
    Date-Modified = {2014-08-31 06:50:10 +0000},
    Funding = {ONR-N00014-09-1-0751},
    Keywords = {Vehicle Routing},
    Title = {Strategic Dynamic Vehicle Routing with Spatio-Temporal Dependent Demands},
    Year = {2012}
    }
    

  8. V. A. Huynh and E. Frazzoli. Probabilistically-sound and Asymptotically-optimal Algorithm for Stochastic Control with Trajectory Constraints. In IEEE Conf. on Decision and Control, Maui, HI, 2012. [PDF] Keyword(s): Motion planning.
    @conference{Huynh.Frazzoli:CDC12,
    Address = {Maui, HI},
    Author = {V. A. Huynh and E. Frazzoli},
    Booktitle = {{IEEE} Conf. on Decision and Control},
    Date-Added = {2012-07-21 15:49:26 +0000},
    Date-Modified = {2013-10-03 21:47:29 +0000},
    Funding = {NSF-CNS-1016213, ARO-MURI-W911NF-11-1-0046},
    Keywords = {Motion planning},
    Title = {Probabilistically-sound and Asymptotically-optimal Algorithm for Stochastic Control with Trajectory Constraints},
    Url = {http://ares.lids.mit.edu/papers/Huynh.Frazzoli.CDC12.pdf},
    Year = {2012},
    Bdsk-Url-1 = {http://ares.lids.mit.edu/papers/Huyn.Frazzoli.CDC12.pdf}
    }
    

  9. V. A. Huynh, S. Karaman, and E. Frazzoli. An Incremental Sampling-based Algorithm for Stochastic Optimal Control. In Proc. IEEE Conf. on Robotics and Automation, 2012. [PDF] Keyword(s): Motion planning.
    @conference{Huynh.Karaman.ea:ICRA12,
    Author = {V.~A. Huynh and S. Karaman and E. Frazzoli},
    Booktitle = {Proc. IEEE Conf. on Robotics and Automation},
    Date-Added = {2012-01-27 04:59:28 +0000},
    Date-Modified = {2013-10-03 21:47:29 +0000},
    Funding = {NSF-CNS-1016213},
    Keywords = {Motion planning},
    Title = {An Incremental Sampling-based Algorithm for Stochastic Optimal Control},
    Url = {http://ares.lids.mit.edu/papers/Huynh.Karaman.ea.ICRA12.pdf},
    Year = {2012},
    Bdsk-Url-1 = {http://ares.lids.mit.edu/papers/Huynh.Karaman.ea.ICRA12.pdf}
    }
    

  10. S. Karaman and E. Frazzoli. High-speed Flight through an Ergodic Forest. In Proc. IEEE Int. Conf. on Robotics and Automation, 2012.
    @conference{Karaman.Frazzoli:ICRA12,
    Author = {S. Karaman and E. Frazzoli},
    Booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
    Date-Added = {2012-01-27 05:00:38 +0000},
    Date-Modified = {2012-06-12 18:50:14 +0000},
    Title = {High-speed Flight through an Ergodic Forest},
    Year = {2012}
    }
    

  11. S. Karaman and E. Frazzoli. High-speed Motion with Limited Sensing Range in a Poisson Forest. In IEEE Conf. on Decision and Control, Maui, HI, 2012.
    @conference{Karaman.Frazzoli:CDC12,
    Address = {Maui, HI},
    Author = {S. Karaman and E. Frazzoli},
    Booktitle = {{IEEE} Conf. on Decision and Control},
    Date-Added = {2012-07-21 15:48:06 +0000},
    Date-Modified = {2013-09-24 08:38:52 +0000},
    Funding = {ONR-MURI-N00014-09-1-1051},
    Title = {High-speed Motion with Limited Sensing Range in a {P}oisson Forest},
    Year = {2012}
    }
    

  12. S. Karaman and E. Frazzoli. Sampling-based Algorithms for Optimal Motion Planning with deterministic $\mu$-calculus Specifications. In Proc. American Control Conf., 2012. Keyword(s): Motion planning.
    @conference{Karaman.Frazzoli:ACC12,
    Author = {S. Karaman and E. Frazzoli},
    Booktitle = {Proc. American Control Conf.},
    Date-Added = {2012-01-27 04:54:51 +0000},
    Date-Modified = {2013-10-03 21:47:29 +0000},
    Funding = {AFOSR-MACCCS-FA8650-07-2-3744},
    Keywords = {Motion planning},
    Title = {Sampling-based Algorithms for Optimal Motion Planning with deterministic $\mu$-calculus Specifications},
    Year = {2012}
    }
    

  13. B. Qin, Z. J. Chong, T. Bandyopadhyay, M. H. Ang, E. Frazzoli, and D. Rus. Curb-Intersection Feature-Based Monte Carlo Localization on Urban Roads. In Proc. IEEE Int. Conf. on Robotics and Automation, 2012.
    @conference{Qin.Chong.ea:ICRA12,
    Author = {B. Qin and Z.~J. Chong and T. Bandyopadhyay and M.~H. Ang and E. Frazzoli and D. Rus},
    Booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
    Date-Added = {2012-01-27 04:58:20 +0000},
    Date-Modified = {2013-02-16 08:43:47 +0000},
    Title = {Curb-Intersection Feature-Based {Monte Carlo} Localization on Urban Roads},
    Year = {2012}
    }
    

  14. B. Rebsamen, T. Bandyopadhyay, T. Wongpiromsarn, S. Kim, Z.J. Chong, B. Qin, M.H. Ang, E. Frazzoli, and D. Rus. Utilizing the infrastructure to assist autonomous vehicles in a mobility on demand context. In TENCON, pages 1-5, 2012. Keyword(s): Autonomous Vehicles.
    @conference{Rebsamen.Bandyopadhyay.ea:TENCON12,
    Author = {B. Rebsamen and T. Bandyopadhyay and T. Wongpiromsarn and S. Kim and Z.J. Chong and B. Qin and M.H. Ang and E. Frazzoli and D. Rus},
    Booktitle = {TENCON},
    Date-Added = {2013-10-03 21:34:26 +0000},
    Date-Modified = {2013-10-03 21:45:41 +0000},
    Keywords = {Autonomous Vehicles},
    Pages = {1--5},
    Title = {Utilizing the infrastructure to assist autonomous vehicles in a mobility on demand context},
    Year = {2012}
    }
    

  15. K. Spieser and E. Frazzoli. The Cow-Path Game: A Competitive Vehicle Routing Problem. In IEEE Conf. on Decision and Control, Maui, HI, 2012. Keyword(s): Game Theory.
    @conference{Spieser.Frazzoli:CDC12,
    Address = {Maui, HI},
    Author = {K. Spieser and E. Frazzoli},
    Booktitle = {{IEEE} Conf. on Decision and Control},
    Date-Added = {2012-07-21 15:46:46 +0000},
    Date-Modified = {2013-10-03 21:45:36 +0000},
    Funding = {ONR-N00014-09-1-0751},
    Keywords = {Game Theory},
    Title = {The Cow-Path Game: A Competitive Vehicle Routing Problem},
    Year = {2012}
    }
    

  16. K. Treleaven, M. Pavone, and E. Frazzoli. Cost Bounds for Pickup and Delivery Problems with Application to Large-Scale Transportation Systems. In Proc. American Control Conf., 2012. Keyword(s): Vehicle Routing.
    @conference{Treleaven.Pavone.ea:ACC12,
    Author = {K. Treleaven and M. Pavone and E. Frazzoli},
    Booktitle = {Proc. American Control Conf.},
    Date-Added = {2012-01-27 04:53:22 +0000},
    Date-Modified = {2013-10-03 21:49:24 +0000},
    Keywords = {Vehicle Routing},
    Title = {Cost Bounds for Pickup and Delivery Problems with Application to Large-Scale Transportation Systems},
    Year = {2012}
    }
    

  17. K. Treleaven, M. Pavone, and E. Frazzoli. Models and Asymptotically Optimal Algorithms for Pickup and Delivery Problems on Roadmaps. In Proc. IEEE Conf. on Decision and Control, Maui, HI, 2012. Note: To appear.
    @conference{Treleaven.Pavone.ea:CDC12,
    Address = {Maui, HI},
    Author = {K. Treleaven and M. Pavone and E. Frazzoli},
    Booktitle = {Proc. IEEE Conf. on Decision and Control},
    Date-Added = {2012-03-12 03:30:51 +0000},
    Date-Modified = {2012-07-21 15:43:11 +0000},
    Note = {To appear},
    Title = {Models and Asymptotically Optimal Algorithms for Pickup and Delivery Problems on Roadmaps},
    Year = {2012}
    }
    

  18. T. Wongpiromsarn and E. Frazzoli. Control of Probabilistic Systems under Dynamic, Partially Known Environments with Temporal Logic Specifications. In IEEE Conf. on Decision and Control, Maui, HI, pages 7644-7651, 2012. Keyword(s): Motion planning.
    @conference{Wongpiromsarn.Frazzoli:CDC12,
    Address = {Maui, HI},
    Author = {T. Wongpiromsarn and E. Frazzoli},
    Booktitle = {{IEEE} Conf. on Decision and Control},
    Date-Added = {2012-07-21 15:42:00 +0000},
    Date-Modified = {2013-10-03 21:47:29 +0000},
    Keywords = {Motion planning},
    Pages = {7644-7651},
    Title = {Control of Probabilistic Systems under Dynamic, Partially Known Environments with Temporal Logic Specifications},
    Year = {2012}
    }
    

  19. T. Wongpiromsarn, A. Ulusoy, C. Belta, E. Frazzoli, and D. Rus. Incremental Temporal Logic Synthesis of Control Policies for Robots Interacting with Dynamic Agents. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages 229-236, 2012. Keyword(s): Motion planning.
    @conference{Wongpiromsarn.Ulusoy.ea:IROS12,
    Author = {T. Wongpiromsarn and A. Ulusoy and C. Belta and E. Frazzoli and D. Rus},
    Booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
    Date-Added = {2012-05-26 04:22:09 +0000},
    Date-Modified = {2013-10-03 21:47:29 +0000},
    Keywords = {Motion planning},
    Pages = {229--236},
    Title = {Incremental Temporal Logic Synthesis of Control Policies for Robots Interacting with Dynamic Agents},
    Year = {2012}
    }
    

  20. T. Wongpiromsarn, T. Uthaicharoenpong, Y. Wang, E. Frazzoli, and D. W. Wang. Distributed Traffic Signal Control for Maximum Network Throughput. In Intelligent Transportation Systems Conference, 2012. Note: To appear.
    @conference{Wongpiromsarn.Uthaicharoenpong.ea:ITSC12,
    Author = {T. Wongpiromsarn and T. Uthaicharoenpong and Y. Wang and E. Frazzoli and D. W. Wang},
    Booktitle = {Intelligent Transportation Systems Conference},
    Date-Added = {2012-05-26 04:15:41 +0000},
    Date-Modified = {2012-07-03 06:02:17 +0000},
    Note = {To appear},
    Title = {Distributed Traffic Signal Control for Maximum Network Throughput},
    Year = {2012}
    }
    

  21. T. Wongpiromsarn, N. Xiao, K. You, K. Sim, L. Xie, E. Frazzoli, and D. Rus. Road Pricing for Spreading Peak Travel: Modeling and Design. In International Conference of the Hong Kong Society for Transportation Studies, 2012.
    @conference{Wongpiromsarn.Xiao.ea:ACC12,
    Author = {T. Wongpiromsarn and N. Xiao and K. You and K. Sim and L. Xie and E. Frazzoli and D. Rus},
    Booktitle = {International Conference of the Hong Kong Society for Transportation Studies},
    Date-Added = {2012-01-27 04:52:15 +0000},
    Date-Modified = {2012-12-09 19:04:55 +0000},
    Title = {Road Pricing for Spreading Peak Travel: Modeling and Design},
    Year = {2012}
    }
    

  22. M. Zhu and E. Frazzoli. On competitive search games for multiple vehicles. In IEEE Conf. on Decision and Control, Maui, HI, 2012. Keyword(s): Game Theory.
    @conference{Zhu.Frazzoli:CDC12a,
    Address = {Maui, HI},
    Author = {M. Zhu and E. Frazzoli},
    Booktitle = {{IEEE} Conf. on Decision and Control},
    Date-Added = {2012-07-21 15:45:17 +0000},
    Date-Modified = {2013-10-03 21:48:54 +0000},
    Funding = {ONR-N00014-09-1-0751},
    Keywords = {Game Theory},
    Title = {On competitive search games for multiple vehicles},
    Year = {2012}
    }
    

  23. M. Zhu and E. Frazzoli. On distributed equilibrium seeking for generalized convex games. In IEEE Conf. on Decision and Control, Maui, HI, 2012.
    @conference{Zhu.Frazzoli:CDC12b,
    Address = {Maui, HI},
    Author = {M. Zhu and E. Frazzoli},
    Booktitle = {{IEEE} Conf. on Decision and Control},
    Date-Added = {2012-07-21 15:46:00 +0000},
    Date-Modified = {2013-09-27 21:39:32 +0000},
    Funding = {ONR-N00014-09-1-0751},
    Title = {On distributed equilibrium seeking for generalized convex games},
    Year = {2012}
    }
    


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Last modified: Tue Aug 18 08:30:35 2015
Author: frazzoli.


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