Contact Information     *** Have left MIT ***


Education

Research Interests

Thesis

Journal Publications

  1. Y. Kuwata and J. P. How, "Cooperative Decentralized Robust Trajectory Optimization using Receding Horizon MILP" In preparation for IEEE Transactions on Control Systems Technology, 2008.
  2. 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, J. Williams, '' A Perception-Driven Autonomous Urban Vehicle,'' Journal of Field Robotics, vol. 25, no. 10, pp. 727 - 774, Oct. 2008.
  3. L. Fletcher, S. Teller, E. Olson, D. Moore, Y. Kuwata, J. How, J. Leonard, I. Miller, M. Campbell, D. Huttenlocher, A. Nathan, F. R. Kline, '' The MIT - Cornell Collision and Why it Happened,'' Journal of Field Robotics, vol. 25, no. 10, pp. 775 - 807, Oct. 2008.
  4. Y. Kuwata, A. Richards, T. Schouwenaars, and J. P. How, "Distributed Robust Receding Horizon Control for Multi-vehicle Guidance" IEEE Transactions on Control Systems Technology, Vol.15, No.4, July 2007.
  5. E. King, Y. Kuwata, and J. P. How, "Experimental Demonstration of Coordinated Control for Multi-vehicle Teams" International Journal of Systems Science, Vol.37, No.6, May 2006.

Selected Conference Publications

  1. Y. Kuwata, G. A. Fiore, J. Teo, E. Frazzoli, J. P. How, '' Motion Planning for Urban Driving using RRT,'' Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, Sep. 2008, pp. 1681 - 1686.
  2. Y. Kuwata, J. Teo, S. Karaman, G. Fiore, E. Frazzoli, J. P. How, '' Motion Planning in Complex Environments using Closed-loop Prediction ,'' Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, Honolulu, HI, Aug. 2008, AIAA-2008-7166.
  3. Y. Kuwata, A. Richards, and J. P. How, "Robust Receding Horizon Control using Generalized Constraint Tightening" Proceedings of the IEEE American Control Conference, July 2007. pp.4482-4487
  4. Y. Kuwata and J. P. How, "Robust Cooperative Decentralized Trajectory Optimization using Receding Horizon MILP" Proceedings of the IEEE American Control Conference, July 2007. pp.522-527
  5. K. Kulligan, M. Valenti, Y. Kuwata, and J. P. How, "Three-Dimensional Flight Experiments Using On-Line Mixed-Integer Linear Programming Trajectory Optimization" Proceedings of the IEEE American Control Conference, July 2007. pp.5322-5327
  6. Y. Kuwata and J. P. How, "Decentralized Cooperative Trajectory Optimization for UAVs with Coupling Constraints" Proceedings of the IEEE Conference on Decision and Control, December 2006. pp.6820-6825
  7. Y. Kuwata, A. Richards, T. Schouwenaars, and J. P. How, "Decentralized Robust Receding Horizon Control for Multi-vehicle Guidance" Proceedings of the IEEE American Control Conference, June 2006. pp.2047-2052
  8. Y. Kuwata and J. P. How, "Decentralized Cooperative Optimization for Systems Coupled through the Constraints" presented at the sixth International Conference on Cooperative Control and Optimization, February 2006.
  9. Y. Kuwata, A. Richards, T. Schouwenaars, and J. P. How "Robust Constrained Receding Horizon Control for Trajectory Planning" Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2005. AIAA-2005-6079
  10. J. P. How, E. King, and Y. Kuwata, "Flight Demonstrations of Cooperative Control for UAV Teams," Proceedingss of the AIAA 3rd Unmanned Unlimited Technical Conference, Workshop and Exhibit, September 2004. AIAA-2004-6490
  11. Y. Kuwata and J. P. How, "Three Dimensional Receding Horizon Control for UAVs" Proceedings of the AIAA Guidance, Navigation, and Control Conference August 2004. AIAA-2004-5144
  12. M. Valenti, T. Schouwenaars, Y. Kuwata, E. Feron, J. P. How, and J. Paunicka, "Implementation of a Manned Vehicle - UAV Mission System," Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2004. AIAA-2004-5142
  13. Y. Kuwata and J. P. How, "Stable Trajectory Design for Highly Constrained Environments using Receding Horizon Control" Proceedings of the IEEE American Control Conference, June 2004. pp.902-907
  14. E. King, M. Alighanbari, Y. Kuwata, and J. P. How, "Coordination and Control Experiments on a Multi-vehicle Testbed," Proceedings of the IEEE American Control Conference, June 2004, pp.5315-5320.
  15. Y. Kuwata and J. P. How, "Decentralized Receding Horizon Control of Multiple UAVs" presented at the Fourth Annual Conference on Cooperative Control and Optimization, December 2003. A book chapter in "Theory and Algorithms for Cooperative Systems".
  16. J. Bellingham, Y. Kuwata, and J. P. How, "Stable Receding Horizon Trajectory Control for Complex Environments," Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003. AIAA-2003-5635.
  17. A. Richards, Y. Kuwata, and J. P. How, "Experimental Demonstrations of Real-time MILP Control," Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003. AIAA-2003-5802.
  18. B. Mettler, M. Valenti, T. Schouwenaars, Y. Kuwata, J. P. How, J. Paunicka, and E. Feron, "Autonomous UAV Guidance Build-Up: Flight-Test Demonstration and Evaluation Plan," Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003. AIAA-2003-5744.
  19. M. Alighanbari, Y. Kuwata, and J. P. How, "Coordination and Control of Multiple UAVs with Timing Constraints and Loitering," Proceedings of the IEEE American Control Conference, June 2003, pp.5311-5316.