Publications

2018 (top)


2017 (top)

    Journal Articles

    Conference Papers

    • T. Banerjee, Miao Liu, J. P. How, "Quickest change detection approach to optimal control in Markov decision processes with model changes", 2017 American Control Conference (ACC), May 2017

    • Noam Buckman, Jonathan P How, "Effects of Broadcasting Over Real Ad-Hoc Networks for Distributed Mobile Robotics (Poster)", RSS 2017 Robot Communication in the Wild: Meeting the Challenges of Real-world Systems, 2017

    • Yu Fan Chen, Miao Liu, Michael Everett, Jonathan P. How, "Decentralized Non-Communicating Multiagent Collision Avoidance with Deep Reinforcement Learning", IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017

    • Yu Fan Chen, Michael Everett, Miao Liu, Jonathan P. How, "Socially Aware Motion Planning with Deep Reinforcement Learning", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, September 2017

    • Nikita Japuria, Golnaz Habibi, Jonathan P How, "CASNSC: A context-based approach for accurate pedestrian motion prediction at intersections (Poster)", NIPS 2017 Machine Learning for Intelligent Transportation Systems Workshop, 2017

    • Miao Liu, Kavinayan Sivakumar, Shayegan Omidshafiei, Christopher Amato, Jonathan P. How, "Learning for Multi-robot Cooperation in Partially Observable Stochastic Environments with Macro-actions", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

    • Brett Lopez, Jonathan P How, "Aggressive 3-D Collision Avoidance for High-Speed Navigation", IEEE International Conference on Robotics and Automation (ICRA), 2017

    • Brett T. Lopez, Jonathan P. How, "Aggressive Collision Avoidance with Limited Field-of-View Sensing", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, September 2017 (submitted)

    • Justin Miller, Jonathan P. How, "Predictive Positioning and Quality Of Service Ridesharing for Campus Mobility On Demand Systems", IEEE International Conference on Robotics and Automation (ICRA), 2017

    • Shayegan Omidshafiei, Jason Pazis, Christopher Amato, Jonathan P How, John Vian, "Deep Decentralized Multi-task Multi-Agent Reinforcement Learning under Partial Observability", International Conference on Machine Learning (ICML), 2017

    • Shayegan Omidshafiei, Dong-Ki Kim, Jason Pazis, Jonathan P How, "Crossmodal Attentive Skill Learner", NIPS 2017 Deep Reinforcement Learning Symposium, 2017

    • Shayegan Omidshafiei, Shih-Yuan Liu, Michael Everett, Brett T. Lopez, Christopher Amato, Miao Liu, Jonathan P. How, John Vian, "Semantic-level Decentralized Multi-Robot Decision-Making using Probabilistic Macro-Observations", IEEE International Conference on Robotics and Automation (ICRA), 2017

    • Shayegan Omidshafiei, Christopher Amato, Miao Liu, Jonathan P. How, John Vian, "Scalable Accelerated Decentralized Multi-Robot Policy Search in Continuous Observation Spaces", IEEE International Conference on Robotics and Automation (ICRA), 2017

    • Jason Pazis, Ronald Parr, Jonathan P How, "Sample Efficient PAC Reinforcement Learning in MDPs via Inter and Intra-task Knowledge Transfer", Neural Information Processing Systems (NIPS) , 2017 (submitted)

    • John F. Quindlen, Jonathan P. How, "Machine Learning for Efficient Sampling-based Algorithms in Robust Multi-Agent Planning under Uncertainty", AIAA SciTech Conference, 2017

    • J. Straub, T. Campbell, J. P. How, J. W. Fisher, "Efficient Global Point Cloud Alignment using Bayesian Nonparametric Mixtures", IEEE Conference on Computer Vision and Pattern Recognition (CVPR),, 2017

    • Hongchuan Wei, Pingping Zhu, Miao Liu, Jonathan P. How, Silvia Ferrari, "Automatic Pan-tilt Camera Control for Learning Dirichlet Process Gaussian Process (DPGP) Mixture Models of Multiple Moving Targets", IEEE Transactions on Control, 2017 (submitted)

    Thesis Publications

    • Michael Everett, "Robot Designed for Socially Acceptable Navigation", S.M. Thesis, Massachusetts Institute of Technology, Department of Mechanical Engineering, May 2017

    • Kristoffer M. Frey, "Sparsity and Computation Reduction for High-Rate Visual-Inertial Odometry", S.M. Thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, August 2017


2016 (top)

    Journal Articles

    • Christopher Amato, George Konidaris, Ariel Anders, Gabriel Cruz, Jonathan P. How, Leslie P. Kaelbling, "Policy Search for Multi-Robot Coordination under Uncertainty", International Journal of Robotics Research (IJRR), Vol. 35, No. 14, pp. 1760-1778, August 2016

    • Luke B Johnson, Han-Lim Choi, Jonathan P How, "The Role of Information Assumptions in Decentralized Task Allocation: A Tutorial", IEEE Control Systems, Vol. 36, No. 4, pp. 45-58, 2016

    • Luke B. Johnson, Sameera S. Ponda, Han-Lim Choi, Jonathan P How, "Decentralized Task Allocation Using Local Information Consistency Assumptions", AIAA Journal of Aerospace Information Systems, 2016

    • Hongchuan Wei, Wenjie Lu, Pingping Zhu, Silvia Ferrari, Miao Liu, Robert H Klein, Shayegan Omidshafiei, Jonathan P How, "Information value in nonparametric Dirichlet-process Gaussian-process (DPGP) mixture models", Automatica, Vol. 74, pp. 360-368, 2016

    Conference Papers

    • Yu Fan Chen, Shih-Yuan Liu, Miao Liu, Justin Miller, Jonathan P. How, "Predictive Modeling of Pedestrian Motion Patterns with Bayesian Nonparametrics", AIAA Guidance, Navigation, and Control Conference (GNC), 2016

    • Yu Fan Chen, Shih-Yuan Liu, Miao Liu, Justin Miller, Jonathan P. How, "Augmented Dictionary Learning for Motion Prediction", IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016

    • Yu Fan Chen, Shih-Yuan Liu, Miao Liu, Justin Miller, Jonathan P. How, "Motion Planning with Diffusion Maps", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October 2016

    • B. Mu AND M. Giamou, L. Paull AND A. Agha-mohammadi AND J. Leonard AND J. How, "Information-based Active SLAM via Topological Feature Graphs", IEEE Conference on Decision and Control (CDC), Las Vegas, USA, December 2016

    • Alexandar Kozarev, John F. Quindlen, Jonathan P. How, Ufuk Topcu, "Case Studies in Data-Driven Verification of Dynamical Systems", Hybrid Systems: Computation and Control, 2016

    • Miao Liu, Christopher Amato, Emily P Anesta, J Daniel Griffith, Jonathan P How, "Learning for Decentralized Control of Multiagent Systems in Large, Partially-Observable Stochastic Environments", Thirtieth AAAI Conference on Artificial Intelligence, 2016

    • B. Mu AND S. Liu, L. Paull AND J. Leonard AND J. How, "SLAM with Objects using a Nonparametric Pose Graph", Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Daejeon, Korea, Oct. 2016

    • M. Liu, C. Amato, E. Anesta, J. D. Griffith, J. P. How, "Learning for Multiagent Decentralized Control in Large, Partially-Observable Stochastic Environments", Proc. of the 30th AAAI Conference on Artificial Intelligence (AAAI), 2016

    • Justin Miller, Andres Hasfura, Shih-Yuan Liu, Jonathan P. How, "Dynamic Arrival Rate Estimation for Campus Mobility on Demand Network Graphs", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016

    • Shayegan Omidshafiei, Ali-Akbar Agha-Mohammadi, Christopher Amato, Shih-Yuan Liu, Jonathan P How, John Vian, "Graph-based Cross Entropy method for solving multi-robot decentralized POMDPs", Robotics and Automation (ICRA), 2016 IEEE International Conference on, 2016

    • Shayegan Omidshafiei, Ali-Akbar Agha-Mohammadi, Yu Fan Chen, Nazim Kemal Ure, Shih-Yuan Liu, Brett T Lopez, Rajeev Surati, Jonathan P How, John Vian, "Measurable Augmented Reality for Prototyping Cyberphysical Systems: A Robotics Platform to Aid the Hardware Prototyping and Performance Testing of Algorithms", 2016

    • Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, Christopher Amato, Shih-Yuan Liu, Jonathan How, John Vian, "Health-Aware Multi-UAV Planning using Decentralized Partially Observable Semi-Markov Decision Processes", AIAA Infotech@Aerospace Conference, 2016

    • Jason Pazis, Ronald Parr, Jonathan How, "Improving PAC Exploration Using the Median Of Means", Neural Information Processing Systems (NIPS) , 2016

    • John F. Quindlen, Ufuk Topcu, Girish Chowdhary, Jonathan P. How, "Region-of-Convergence Estimation for Learning-Based Adaptive Controllers", American Control Conference, 2016

    Technical Reports

    • Shayegan Omidshafiei, Brett T. Lopez, Jonathan P. How, John Vian, "Hierarchical Bayesian Noise Inference for Robust Real-time Probabilistic Object Classification", 2016

    Thesis Publications

    • Andres Hasfura, "Pedestrian detection and tracking for mobility on demand", S.M. Thesis, Massachusetts Institute of Technology, 2016

    • Luke Johnson, "Decentralized Task Allocation in Communication Contested Environments", Ph.D. Thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, Cambridge MA, February 2016

    • Brett Lopez, "Low-Latency Trajectory Planning for High-Speed Navigation in Unknown Environments", S.M. Thesis, Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, 2016


2015 (top)

    Journal Articles

    • G. Chowdhary, H. A. Kingravi, J. P. How, P. A. Vela, "Bayesian Nonparametric Adaptive Control Using Gaussian Processes", IEEE Transactions on Neural Networks and Learning Systems, Vol. 26, No. 3, pp. 537-550, March 2015

    • Mark Cutler, Jonathan P. How, "Analysis and Control of a Variable-Pitch Quadrotor for Agile Flight", ASME Journal of Dynamic Systems, Measurement and Control, Vol. 137, No. 10, pp. 101002-101002-14, October 2015

    • Mark Cutler, Thomas J. Walsh, Jonathan P. How, "Real-World Reinforcement Learning via Multifidelity Simulators", IEEE Transactions on Robotics, Vol. 31, No. 3, pp. 655-671, June 2015

    • Bernard Michini, Thomas J. Walsh, Ali-akbar Agha-mohammadi, Jonathan P. How, "Bayesian Nonparametric Reward Learning from Demonstration", Transactions on Robotics, Vol. 31, No. 2, pp. 369-386, April 2015

    • Gregory E Newstadt, Beipeng Mu, Dennis Wei, Jonathan P How, Alfred O Hero, "Importance-Weighted Adaptive Search for Multi-Class Targets", Signal Processing, IEEE Transactions on, Vol. 63, No. 23, pp. 6299-6314, 2015

    • N Kemal Ure, Girish Chowdhary, Jonathan P How, John Vian, "Health Aware Planning Under Uncertainty for Collaborating Heterogeneous Teams of Mobile Agents", Unmanned Systems, Vol. 3, No. 02, pp. 89-107, 2015

    • N Kemal Ure, Girish Chowdhary, Tuna Toksoz, Jonathan P How, Matthew A Vavrina, John Vian, "An automated battery management system to enable persistent missions with multiple aerial vehicles", IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 1, pp. 275-286, 2015

    Conference Papers

    • Christopher Amato, Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, George Konidaris, Jonathan P. How, Leslie P. Kaelbling, "Probabilistic Planning for Multi-Robot System", Robotics: Science and Systems 2015 Workshop on Principles of Multi-Robot Systems, 2015

    • Trevor Campbell, Julian Straub, John W. Fisher III, Jonathan How, "Streaming, Distributed Variational Inference for Bayesian Nonparametrics", Advances in Neural Information Processing Systems (NIPS), 2015

    • Trevor Campbell, Jonathan P. How, "Bayesian Nonparametric Set Construction for Robust Optimization", American Control Conference (ACC), 2015

    • Yu Fan Chen, Mark Cutler, Jonathan P. How, "Decoupled Multiagent Path Planning via Incremental Seqential Convex Programming", IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, May 2015

    • Mark Cutler, Jonathan P. How, "Efficient Reinforcement Learning for Robots using Informative Simulated Priors", IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, May 2015

    • Beipeng Mu AND Ali-akbar Agha-mohammadi AND Liam Paull AND Matthew Graham AND Jonathan How AND John Leonard, "Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation", Proceedings of Robotics: Science and Systems, Rome, Italy, July 2015

    • M. Liu, C. Amato, X. Liao, J. P. How, L. Carin, "Stick-Breaking Policy Learning in DEC-POMDPs", Proceedings of the 24rd International Joint Conference on Artificial Intelligence (IJCAI), Buenos aires, Argentina, 2015

    • M. Liu, C. Amato, E. Anesta, J. D. Griffith, J. P. How, "Learning for Multiagent Decentralized Control in Large Partially Observable Stochastic Environments", The 2nd Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM), 2015

    • Beipeng Mu, Gregory E Newstadt, Dennis L Wei, Alfred O Hero, Jonathan P How, "Adaptive search for multi-class targets with heterogeneous importance", Information Fusion (Fusion), 2015 18th International Conference on, 2015

    • Shayegan Omidshafiei, Ali-Akbar Agha-Mohammadi, Christopher Amato, Jonathan P How, "Decentralized control of partially observable Markov decision processes using belief space macro-actions", Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015

    • Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, Yu Fan Chen, N. Kemal Ure, Jonathan How, John Vian, Rajeev Surati, "MAR-CPS: Measurable Augmented Reality for Prototyping Cyber-Physical Systems", AIAA Infotech@Aerospace Conference, 2015

    • John F. Quindlen, Girish Chowdhary, Jonathan P. How, "Hybrid Model Reference Adaptive Control for Unmatched Uncertainties", American Control Conference, 2015

    • John F. Quindlen, Girish Chowdhary, Jonathan P. How, "Output Feedback Concurrent Learning Model Reference Adaptive Control", AIAA Guidance, Navigation, and Control Conference, 2015

    • Julian Straub, Trevor Campbell, Jonathan P How, John W Fisher, "Small-Variance Nonparametric Clustering on the Hypersphere", Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2015

    • N Kemal Ure, Shayegan Omidshafiei, Brett Thomas Lopez, Ali-akbar Agha-Mohammadi, Jonathan P How, John Vian, "Online heterogeneous multiagent learning under limited communication with applications to forest fire management", Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 2015

    • N. Kemal Ure, Joanthan P. How, and john Vian, "Randomized Coordination Search for Scalable Multiagent Planning", Proceedings of the International Conference on Autonomous Agents and Multiagent Systems, 2015

    Thesis Publications

    • Shayegan Omidshafiei, "Decentralized Control of Multi-Robot Systems using Partially Observable Markov Decision Processes and Belief Space Macro-actions", S.M. Thesis, Massachusetts Institute of Technology, August 2015

    • N. Kemal Ure, "Multiagent Planning and Learning Using Random Decompositions and Adaptive Representations", Ph.D. Thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, Cambridge, MA, February 2015

    • James Neil Wiken, "Analysis of a Quadrotor in Forward Flight", S.M. Thesis, Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, May 2015


2014 (top)

    Books and Chapters

    • Girish Chowdhary, Emilio Frazzoli, Jonathan P. How, Hugh Liu, Nonlinear Flight Control Techniques for Unmanned Aerial Vehicles, pp. 577-612, Springer, 2014

    • Jonathan P How, Emilio Frazzoli, Girish Vinayak Chowdhary, Linear Flight Control Techniques for Unmanned Aerial Vehicles, pp. 529-576, Springer, 2014

    Journal Articles

    • Ali-akbar Agha-mohammadi, Suman Chakravorty, Nancy Amato, "FIRM: Sampling-based Feedback Motion Planning Under Motion Uncertainty and Imperfect Measurements", International Journal of Robotics Research (IJRR), Vol. 33, No. 2, pp. 268-304, 2014

    • Girish Chowdhary, Miao Liu, Robert Grande, Thomas Walsh, Jonathan How, Lawrence Carin, "Off-policy reinforcement learning with Gaussian processes", IEEE/CAA Journal of Automatica Sinica, Vol. 1, No. 3, pp. 227-238, 2014

    • Robert Grande, Girish Chowdhary, Jonathan How, "Experimental Validation of Bayesian Nonparametric Adaptive Control using Gaussian Processes", Journal of Aerospace Information Systems, 2014

    • Beipeng Mu, Girish Chowdhary, Jonathan P How, "Efficient distributed sensing using adaptive censoring-based inference", Automatica, Vol. 50, No. 6, pp. 1590-1602, 2014

    • M. R. Walter, M. Antone, E. Chuangsuwanich, A. Correa, R. Davis, L. Fletcher, E. Frazzoli, Y. Friedman, J. Glass, J. P. How, J. Jeon, S. Karaman, B. Luders, N. Roy, S. Tellex, S. Teller, "A Situationally-Aware Voice-Commandable Robotic Forklift Working Alongside People in Unstructured Outdoor Environments", Journal of Field Robotics, 2014

    Conference Papers

    • A. Agha-mohammadi, Shayegan Omidshafiei, Christopher Amato, Jonathan P. How, "Graph-based Planning to Solve Multi-agent POMDPs", Robotics: Science and Systems 2014 Workshop on Distributed Control and Estimation for Robotic Vehicle Networks, 2014

    • Ali-akbar Agha-mohammadi, N. Kemal Ure, Jonathan P. How, John Vian, "Health Aware Stochastic Planning For Persistent Package Delivery Missions using Quadrotors", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014

    • Trevor Campbell, Jonathan P. How, "Approximate Decentralized Bayesian Inference", Uncertainty in Artificial Intelligence (UAI), 2014

    • Yu Fan Chen, N. Kemal Ure, Girish Chowdhary, Jonathan P. How, John Vian, "Planning for Large-Scale Multiagent Problems via Hierarchical Decomposition with Applications to UAV Health Management", American Control Conference (ACC), Portland, OR, June 2014

    • Mark Cutler, Thomas J. Walsh, Jonathan P. How, "Reinforcement Learning with Multi-Fidelity Simulators", IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014

    • S. Ferguson, B. Luders, R. C. Grande, J. P. How, "Real-Time Predictive Modeling and Robust Avoidance of Pedestrians with Uncertain, Changing Intentions", Proceedings of the Workshop on the Algorithmic Foundations of Robotics, Istanbul, Turkey, August 2014

    • Robert C. Grande, Thomas J. Walsh, Jonathan P. How, "Sample Efficient Reinforcement Learning with Gaussian Processes", International Conference on Machine Learning (ICML), June 2014

    • Robert C. Grande, Thomas J. Walsh, Jonathan P. How, "Sample Efficient Reinforcement Learning with Gaussian Processes", International Conference on Machine Learning (ICML), June 2014

    • Luke Johnson, Han-Lim Choi, Jonathan P. How, "Convergence Analysis of the Hybrid Information and Plan Consensus Algorithm", American Control Conference (ACC), Portland, OR, June 2014

    • Luke Johnson, Han-Lim Choi, Jonathan P. How, "The Hybrid Information and Plan Consensus Algorithm with Imperfect Situational Awareness", International Symposium on Distributed Autonomous Robotic Systems (DARS), Daejeon, Korea, November 2014

    • Brandon D. Luders, Jonathan P. How, "An Asymptotically Optimal Sampling-based Motion Planner with Guaranteed Robustness to Bounded Uncertainty", American Control Conference (ACC), Portland, OR, June 2014

    Technical Reports

    • Christopher Amato, George D. Konidaris, Gabriel Cruz, Christopher A. Maynor, Jonathan P. How, Leslie P. Kaelbling, "Planning for Decentralized Control of Multiple Robots Under Uncertainty", 2014

    Thesis Publications

    • Yu Fan Chen, "Hierarchical Decomposition of Multi-agent Markov Decision Processes with Application to Health Aware Planning", S.M. Thesis, Massachusetts Institute of Technology, August 2014

    • Robert C. Grande, "Computationally Efficient Gaussian Process Changepoint Detection and Regression", S.M. Thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, Cambridge MA, June 2014

    • Daniel S Levine, "Focused active inference", Ph.D. Thesis, Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, 2014

    • Brandon D. Luders, "Robust Sampling-based Motion Planning for Autonomous Vehicles in Uncertain Environments", Ph.D. Thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, May 2014

    Other Publications


2013 (top)

    Books and Chapters

    • Nazim Kemal Ure, Girish Chowdhary, Jonathan P How, John Vian, Planning Under Uncertainty, "Multi-Agent Planning for Persistent Surveillance", MIT Press, 2013

    Journal Articles

    • Georges S. Aoude, Brandon D. Luders, Joshua M. Joseph, Nicholas Roy, Jonathan P. How, "Probabilistically Safe Motion Planning to Avoid Dynamic Obstacles with Uncertain Motion Patterns", Autonomous Robots, Vol. 35, No. 1, pp. 51-76, 2013

    • Han-Lim Choi, Jonathan P How, Paul I Barton, "An outer-approximation approach for information-maximizing sensor selection", Optimization Letters, Vol. 7, No. 4, pp. 745-764, 2013

    • Girish Chowdhary, Hassan Kingravi, Jonathan P. How, Patricio A. Vela, "Bayesian Nonparametric Adaptive Control using Gaussian Processes", IEEE Transactions on Neural Networks, 2013

    • Alborz Geramifard, Thomas J. Walsh, Stefanie Tellex, Girish Chowdhary, Nicholas Roy, Jonathan P. How, "A Tutorial on Linear Function Approximators for Dynamic Programming and Reinforcement Learning", Foundations and Trends in Machine Learning, Vol. 6, No. 4, pp. 375-451, 2013

    • Daniel Levine, Brandon Luders, Jonathan P. How, "Information-Theoretic Motion Planning for Constrained Sensor Networks", Journal of Aerospace Information Systems, Vol. 10, No. 10, pp. 477-496, 2013

    • N. Kemal Ure, Girish Chowdhary, Yu Fan Chen, Jonathan P. How, John Vian, "Distributed Learning for Planning Under Uncertainty Problems with Heterogeneous Teams", Journal of Intelligent and Robotic Systems, pp. 1-16, 2013

    Conference Papers

    • Christopher Amato, Girish Chowdhary, Alborz Geramifard, Nazim Kemal Ure, Mykel J. Kochenderfer, "Decentralized Control of Partially Observable Markov Decision Processes", Proceedings of the Fifty-Second IEEE Conference on Decision and Control, 2013

    • Trevor Campbell, Luke Johnson, Jonathan P. How, "Multiagent Allocation of Markov Decision Process Tasks", American Control Conference (ACC), 2013

    • Trevor Campbell, Robert Klein, Alborz Geramifard, Jonathan How, "Simultaneous Clustering on Representation Expansion for Learning Multimodel MDPs", 1st Multidisciplinary Conference on Reinforcement Learning and Decision Making, 2013

    • Trevor Campbell, Miao Liu, Brian Kulis, Jonathan P. How, Lawrence Carin, "Dynamic Clustering via Asymptotics of the Dependent Dirichlet Process", Advances in Neural Information Processing Systems (NIPS), 2013

    • G. Chowdhary, H. Kingravi, R.C. Grande, J.P. How, P. Vela, "Nonparametric Adaptive Control using Gaussian Processes", AIAA Guidance, Navigation, and Control Conference (GNC), 2013

    • G. Chowdhary, H. Kingravi, J.P. How, P. Vela, "Nonparametric Adaptive Control using Gaussian Processes", IEEE Conference on Decision and Control (CDC), 2013

    • Girish Chowdhary, Hassan Kingravi, Jonathan P. How, Patricio Vela, "Bayesian Nonparametric Adaptive Control of Time Varying Systems using Gaussian Processes", American Control Conference (ACC), 2013

    • Girish Chowdhary, Maximillian M"uhlegg, Jonathan P. How, Florian Holzapfel, "A Concurrent Learning Adaptive-Optimal Control Architecture for Nonlinear Systems", Proceedings of the European Control Conference, Zurich, Switzerland, July 2013

    • Girish Chowdhary, Tongbin Wu, Mark Cutler, Jonathan P. How, "Rapid Transfer of Controllers Between UAVs using Learning Based Adaptive Control", IEEE International Conference on Robotics and Automation (ICRA), 2013

    • Girish Chowdhary, Miao Liu, Robert C. Grande, Thomas J. Walsh, Jonathan P. How, "Off-Policy Reinforcement Learning with Gaussian Processes", Multidisciplinary Conference on Reinforcement Learning and Decision Making, 2013

    • Girish Chowdhary, Hassan Kingravi, Robert C. Grande, Patricio Vela, Jonathan P. How, "Nonparametric Adaptive Control using Gaussian Processes", 1st Multidisciplinary Conference on Reinforcement Learning and Decision Making, 2013

    • Mark Cutler, Bernard Michini, Jonathan P. How, "Lightweight Infrared Sensing for Relative Navigation of Quadrotors", International Conference on Unmanned Aircraft Systems, Atlanta GA, August 2013

    • Mark Cutler, Thomas J. Walsh, Jonathan P. How, "Reinforcement Learning with Multi-Fidelity Simulators (Poster)", NIPS Transfer and Multi-Task Learning Workshop, 2013

    • Alborz Geramifard, Thomas J. Walsh, Nicholas Roy, Jonathan How, "Batch iFDD: A Scalable Matching Pursuit Algorithm for Solving MDPs", Proceedings of the 29th Annual Conference on Uncertainty in Artificial Intelligence (UAI), Bellevue, Washington, USA, 2013

    • Robert Grande, Girish Chowdhary, Jonathan P. How, "Nonparametric Adaptive Control using Gaussian Processes with Online Hyperparameter Estimation", IEEE Conference on Decision and Control (CDC), 2013

    • Luke Johnson, Han-Lim Choi, Jonathan P. How, "Hybrid Information and Plan Consensus in Distributed Task Allocation", AIAA Guidance, Navigation, and Control Conference (GNC), August 2013

    • J. Joseph, A. Geramifard, W. Roberts, J. How, N. Roy, "Reinforcement Learning with Misspecified Model Classes", IEEE International Conference on Robotics and Automation (ICRA), 2013

    • Daniel S Levine, Jonathan P How, "Sensor selection in high-dimensional gaussian trees with nuisances", Advances in Neural Information Processing Systems, 2013

    • Brandon Luders, Ian Sugel, Jonathan P. How, "Robust Trajectory Planning for Autonomous Parafoils under Wind Uncertainty", AIAA Infotech@Aerospace Conference, Boston, MA, August 2013

    • Brandon D. Luders, Sertac Karaman, Jonathan P. How, "Robust Sampling-based Motion Planning with Asymptotic Optimality Guarantees", AIAA Guidance, Navigation, and Control Conference (GNC), Boston, MA, August 2013

    • Bernard Michini, Mark Cutler, Jonathan P. How, "Scalable Reward Learning from Demonstration", IEEE International Conference on Robotics and Automation (ICRA), 2013

    • Beipeng Mu, Girish Chowdhary, Jonathan P. How, "Efficient Distributed Information Fusion using Adaptive Decentralized Censoring Algorithms", American Control Conference (ACC), Washington DC, July 2013

    • Beipeng Mu, Girish Chowdhary, Jonathan P. How, "Value-of-information aware active task assignment", AIAA Guidance Navigation and Control, Boston, August 2013

    • Beipeng Mu, Girish Chowdhary, Jonathan P. How, "Value-of-information aware active task assignment", Defense Security and Sensing, Baltimore, May 2013

    • Sameera S. Ponda, Luke B. Johnson, Jonathan P. How, "Risk Allocation Strategies for Distributed Chance-Constrained Task Allocation", American Control Conference (ACC), June 2013

    • John Quindlen, Jonathan How, Girish Chowdhary, Nhan Nguyen, Tansel Yucelen, "Concurrent Learning Adaptive Control of the Aeroelastic Generic Transport Model", AIAA Infotech Conference, 2013

    • Nazim Kemal Ure, Girish Chowdhary, Yu Fan Chen, Jonathan P. How, John Vian, "Health-Aware Decentralized Planning and Learning for Large-scale Multiagent Missions", Conference on Guidance Navigation and Control, Washington DC, August 2013

    • Nazim Kemal Ure, Girish Chowdhary, Yu Fan Chen, Mark Cutler, Jonathan P. How, John Vian, "Decentralized Learning based Planning Multiagent Missions in Presence of Actuator Failures", International Conference on Unmanned Aircraft Systems, Atlanta GA, August 2013

    • Nazim Kemal Ure, Girish Chowdhary, Jonathan P. How, Mathew Vavarina, John Vian, "Health Aware Planning Under Uncertainty for UAV Missions with Heterogeneous Teams", Proceedings of the European Control Conference, Zurich, Switzerland, July 2013

    Technical Reports

    Thesis Publications

    • Trevor Campbell, "Multiagent Planning with Bayesian Nonparametric Asymptotics", S.M. Thesis, Massachusetts Institute of Technology, August 2013

    • Beipeng Mu, "Value of Information Based Distributed Inference and Planning", S.M. Thesis, Massachusetts Institute of Technology, June 2013

    • Ian Sugel, "Robust Planning for Autonomous Parafoil", S.M. Thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, Cambridge, MA, September 2013

    Other Publications


2012 (top)

    Books and Chapters

    • Girish Chowdhary, Emilio Frazzoli, Jonathan P. How, Hugh Lui, Handbook of Unmanned Aerial Vehicles, "Nonlinear Flight Contol Techniques for Unmanned Aerial Vehicles", Springer, 2012

    • Jonathan P. How, Emilio Frazzoli, Girish Chowdhary, Handbook of Unmanned Aerial Vehicles, "Linear Flight Contol Techniques for Unmanned Aerial Vehicles", Springer, 2012

    • Andrew N. Kopeikin, Sameera S. Ponda, Jonathan P. How, Handbook of Unmanned Aerial Vehicles, "Control of Communication Networks for Teams of UAVs", Springer, 2012

    • Sameera S. Ponda, Luke B. Johnson, Alborz Geramifard, Jonathan P. How, Handbook of Unmanned Aerial Vehicles, "Cooperative Mission Planning for Multi-UAV Teams", Springer, 2012

    Journal Articles

    • G. S. Aoude, V. R. Desaraju, L. H. Stephens, J. P. How, "Driver Behavior Classification at Intersections and Validation on Large Naturalistic Dataset", IEEE Transactions on Intelligent Transportation Systems, 2012

    • Luca F. Bertuccelli, Alber Wu, Jonathan P. How, "Robust Adaptive Markov Decision Processes", IEEE Control Systems Magazine, 2012

    • V. R. Desaraju, J. P. How, "Decentralized path planning for multi-agent teams with complex constraints", Autonomous Robots, pp. 1-19, January 2012

    • Cameron S.R. Fraser, Luca F. Bertuccelli, Han-Lim Choi, Jonathan P. How, "A Hyperparameter Consensus Method for Agreement Under Uncertainty", Automatica, Vol. 48, No. 2, pp. 374-380, February 2012

    • Alborz Geramifard, Joshua Redding, Jonathan P. How, "Intelligent Cooperative Control Architecture: A framework for performance improvement using safe learnings", Journal of Intelligent and Robotic Systems, pp. 1-21, 2012

    • S. S. Ponda, L. B. Johnson, A. N. Kopeikin, H. Choi, J. P. How, "Distributed Planning Strategies to Ensure Network Connectivity for Dynamic Heterogeneous Teams", IEEE Journal on Selected Areas in Communications, Vol. 30, No. 5, pp. 861 -869, June 2012

    • Albert Wu, Jonathan P How, "Guaranteed infinite horizon avoidance of unpredictable, dynamically constrained obstacles", Autonomous Robots, Vol. 32, No. 3, pp. 227-242, 2012

    Conference Papers

    • Trevor Campbell, Luke Johnson, Miao Liu, Jonathan How, Lawrence Carin, "Multiagent Allocation of Bayesian Nonparametric Markov Decision Process tasks (Poster)", NIPS Workshop on Bayesian Nonparametric Models for Reliable Planning and Decision-making Under Uncertainty, 2012

    • Trevor Campbell, Sameera S. Ponda, Girish Chowdhary, Jonathan P. How, "Planning under Uncertainty using Nonparametric Bayesian Models", AIAA Guidance, Navigation, and Control Conference (GNC), August 2012

    • Giris Chowdhary, Jonathan How, "Nonparameteric Adaptive Control using Gaussian Processes", New England Machine Learning Day, Cambridge, MA, May 2012

    • Girish Chowdhary, Jonathan How, Hassan Kingravi, "Model Reference Adaptive Control using Nonparametric Adaptive Elements", Conference on Guidance Navigation and Control, Minneapolis, MN, August 2012

    • Girish Chowdhary, Jonathan P. How, Hassan Kingravi, "Bayesian Nonparameteric Adaptive Control using Gaussian Process", Neural Information and Processing Systems, Lake Tahoe, NV, December 2012

    • Girish Chowdhary, Tongbin Wu, Mark Cutler, Nazim Kemal "Ure, Jonathan How, "Experimental Results of Concurrent Learning Adaptive Controller", AIAA Guidance, Navigation, and Control Conference (GNC), Minneapolis, MN, August 2012

    • Mark Cutler, Jonathan P. How, "Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors", AIAA Guidance, Navigation, and Control Conference (GNC), Minneapolis, Minnesota, August 2012

    • A. Geramifard, S. Tellex, D. Wingate, N. Roy, J. P. How, "A Bayesian Approach to Finding Compact Representations for Reinforcement Learning", The 10th European Workshop on Reinforcement Learning (EWRL), 2012

    • Alborz Geramifard, Joshua Redding, Joshua Joseph, Nicholas Roy, Jonathan P. How, "Model Estimation Within Planning and Learning", American Control Conference (ACC), June 2012

    • Luke B. Johnson, Han-Lim Choi, Sameera S. Ponda, Jonathan P. How, "Allowing Non-Submodular Score Functions in Distributed Task Allocation", IEEE Conference on Decision and Control (CDC), Dec 2012

    • Andrew N. Kopeikin, Andrew Clare, Olivier Toupet, Jonathan P. How, Mary L. Cummings, "Flight Testing a Heterogeneous Multi-UAV System with Human Supervision", AIAA Guidance, Navigation, and Control Conference (GNC), August 2012

    • Andrew N. Kopeikin, Sameera S. Ponda, Luke B. Johnson, Jonathan P. How, "Multi-UAV Network Control through Dynamic Task Allocation: Ensuring Data-Rate and Bit-Error-Rate Support", Wi-UAV 2012, 3rd International Workshop on Wireless Networking and Control for Unmanned Autonomous Vehicles at the IEEE GlobeComm Conference, Dec 2012

    • Miao Liu, Girish Chowdhary, Jonathan P. How, Lawrence Carin, "Transfer Learning for Reinforcement Learning with Dependent Dirichlet Process and Gaussian Process", Neural Information and Processing Systems, Lake Tahoe, NV, December 2012

    • B. Michini, Jonathan P. How, "Improving the Efficiency of Bayesian Inverse Reinforcement Learning", IEEE International Conference on Robotics and Automation (ICRA), 2012

    • B. Michini, J. P. How, "Bayesian Nonparametric Inverse Reinforcement Learning", European Conference on Machine Learning (ECML), Bristol, UK, Sept. 2012

    • Sameera S. Ponda, Luke B. Johnson, Jonathan P. How, "Distributed Chance-Constrained Task Allocation for Autonomous Multi-Agent Teams", American Control Conference (ACC), June 2012

    • J. D. Redding, N. Kemal Ure, J. P. How, M. Vavrina, J. Vian, "Scalable, MDP-based Planning for Multiple, Cooperating Agents", American Control Conference (ACC), June 2012

    • N. K. Ure, G. Chowdhary, J. Redding, T. Toksoz, J. P. How, M. Vavrina, J. Vian, "Experimental demonstration of efficient multi-agent learning and planning for persistent missions in uncertain environments", Conference on Guidance Navigation and Control, Minneapolis, MN, August 2012

    • N. Kemal Ure, Alborz Geramifard, Girish Chowdhary, Jonathan P. How, "Adaptive Planning for Markov Decision Processes with Uncertain Transition Models via Incremental Feature Dependency Discovery", European Conference on Machine Learning (ECML), 2012

    Technical Reports

    • Beipeng Mu, Girish Chowdhary, Jonathan P. How, "Efficient Distributed Information Fusion using Value of Information based Censoring", Massachusetts Institute of Technology, http://hdl.handle.net/1721.1/71875, July 2012

    Thesis Publications

    • Mark Cutler, "Design and Control of an Autonomous Variable-Pitch Quadrotor Helicopter", S.M. Thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, August 2012

    • Alborz Geramifard, "Practical Reinforcement Learning Using Representation Learning and Safe Exploration for Large Scale Markov Decision Processes", Ph.D. Thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, February 2012

    • Luke Johnson, "Decentralized Task Allocation for Dynamic Environments", S.M. Thesis, Massachusetts Institute of Technology, January 2012

    • Andrew N. Kopeikin, "Dynamic Mission Planning for Communication Control in Multiple Unmanned Aircraft Teams", S.M. Thesis, Massachusetts Institute of Technology, June 2012

    • Sameera S. Ponda, "Robust Distributed Planning Strategies for Autonomous Multi-Agent Teams", Ph.D. Thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, September 2012

    • Joshua D. Redding, "Approximate Multi-Agent Planning in Dynamic and Uncertain Environments", Ph.D. Thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, Cambridge MA, February 2012

    • Tuna Toksoz, "Design and Implementation of an Automated Battery Management Platform", S.M. Thesis, Massachusetts Institute of Technology, August 2012

    Other Publications

    • T. Toksoz, N. K. Ure, G. Chowdhary, A. Geramifard, J. P. How, 3 Hours Persistent Search and Track Mission with Autonomous Recharge Station, 2012


2011 (top)


2010 (top)


2009 (top)


2008 (top)

    Journal Articles

    • Mehdi Alighanbari, Jonathan P How, "Unbiased Kalman consensus algorithm", Journal of Aerospace Computing, Information, and Communication, Vol. 5, No. 9, pp. 298-311, 2008

    • M. Alighanbari, J. P. How, "An Unbiased Kalman Consensus Algorithm", AIAA Journal of Aerospace Computing, Information, and Communication, Vol. 5, No. 9, pp. 298-311, Sept 2008

    • M. Alighanbari, J. P. How, "A Robust Approach to the UAV Task Assignment Problem", International Journal of Robust and Nonlinear Control, Vol. 18, No. 2, pp. 118-134, January 2008

    • G. S. Aoude, J. P. How, I. M. Garcia, "Two-Stage Path Planning Approach for Solving Multiple Spacecraft Reconfiguration Maneuvers", Journal of the Astronautical Sciences, Vol. 56, No. 4, pp. 515-544, Oct-Dec 2008

    • B. Bethke, M. Valenti, J. P. How, "UAV Task Assignment", IEEE Robotics and Automation Magazine, Vol. 15, No. 1, pp. 39-44, March 2008

    • L. Breger, J. P. How, "Safe Trajectories for Autonomous Rendezvous of Spacecraft", AIAA Journal on Guidance, Control, and Dynamics, Vol. 31, No. 5, pp. 1478-1489, 2008

    • L. Fletcher, S. Teller, E. Olson, D. Moore, Y. Kuwata, J. P. 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, October 2008

    • J. P. How, B. Bethke, A. Frank, D. Dale, J. Vian, "Real-Time Indoor Autonomous Vehicle Test Environment", IEEE Control Systems Magazine, Vol. 28, No. 2, pp. 51-64, April 2008

    • J. Leonard, J. P. 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, 2008

    Conference Papers

    • G. S. Aoude, J. P. How, D. W. Miller, "Reconfiguration Maneuver Experiments using the SPHERES tesbed onboard the ISS", 3rd International Symposium on Formation Flying, Missions and Technologies, Noordwijk, The Netherlands, 2008

    • L. F. Bertuccelli, J. P. How, "Robust Markov Decision Processes using Sigma Point sampling", American Control Conference (ACC), 11-13 June 2008

    • L. F. Bertuccelli, J. P. How, "Estimation of non-stationary Markov Chain transition models", IEEE Conference on Decision and Control (CDC), Cancun, Mexico, 9-11 Dec. 2008

    • L. Bertuccelli, "Robust Multiple Model Filtering with Uncertain Transition Models", AIAA Guidance, Navigation, and Control Conference (GNC), August 2008

    • L. Bertuccelli, B. Bethke, J. P. How, "Robust Decision-Making in Infinite Horizon MDPs using Scenarios", Conference on Cooperative Control and Optimization, Gainesville, FL, January 2008

    • B. Bethke, J. P. How, J. Vian, "Group health management of UAV teams with applications to persistent surveillance", American Control Conference (ACC), Seattle, WA, 11-13 June 2008

    • B. Bethke, L. Bertuccelli, J. P. How, "Experimental Demonstration of MDP - Based Planning with Model Uncertainty", AIAA Guidance, Navigation, and Control Conference (GNC), August 2008

    • B. Bethke, L. F. Bertuccelli, J. P. How, "Experimental Demonstration of Adaptive MDP-Based Planning with Model Uncertainty", AIAA Guidance Navigation and Control, Honolulu, Hawaii, 2008

    • B. Bethke, J. How, A. Ozdaglar, "Approximate Dynamic Programming Using Support Vector Regression", IEEE Conference on Decision and Control (CDC), Cancun, Mexico, 2008

    • Michael Bowling, Alborz Geramifard, David Wingate, "Sigma Point Policy Iteration", International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), Richland, SC, 2008

    • L. Brunet, H.-L. Choi, J. P. How, "Consensus-Based Auction Approaches for Decentralized Task Assignment", AIAA Guidance, Navigation, and Control Conference (GNC), Honolulu, HI, August 2008

    • H.-L. Choi, J. P. How, "Continuous Motion Planning for Information Forecast", IEEE Conference on Decision and Control, Cancun, Mexico, December 2008

    • H.-L. Choi, J. P. How, P. I. Barton, "An outer-approximation algorithm for generalized maximum entropy sampling", American Control Conference (ACC), Seattle, WA, 11-13 June 2008

    • H.-L. Choi, J. P. How, J. A. Hansen, "Algorithm and Sensitivity Analysis of Information-Theoretic Ensemble-Based Observation Targeting", American Meteorological Society Annual Meeting, New Orleans, LA, January 2008

    • Han-Lim Choi, J. P. How, "Continuous motion planning for information forecast", IEEE Conference on Decision and Control (CDC), Cancun, Mexico, 9-11 December 2008

    • E. M. Craparo, J. P. How, E. Modiano, "Optimization of mobile backbone networks: Improved algorithms and approximation", American Control Conference (ACC), 11-13 June 2008

    • E. Craparo, J. P. How, E. Modiano, "Sensing Spatially Distributed Phenomena via Mobile Backbone Networks", American Control Conference, June 2008

    • E. Craparo, J. P. How, E. Modiano, "Simultaneous Placement and Assignment for Exploration in Mobile Backbone Networks", IEEE Conference on Decision and Control (CDC), December 2008

    • E. Craparo, J. P. How, E. Modiano, "Throughput Optimization in Mobile Backbone Networks", SIAM Conference on Optimization, May 2008

    • J. P. How, J. S. McGrew, A. A. Frank, G. H. Hines, "Autonomous aircraft flight control for constrained environments", IEEE International Conference on Robotics and Automation (ICRA), 19-23 May 2008

    • J. P. How, J. Teo, B. Michini, "Adaptive Flight Control Experiments using RAVEN", Proceedings of 14th Yale Workshop on Adaptive and Learning Systems, New Haven, CT, June 2008

    • Y. Kuwata, G. A. Fiore, J. Teo, E. Frazzoli, J. P. How, "Motion Planning for Urban Driving using RRT", Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Nice, France, September 2008

    • Y. Kuwata, J. Teo, S. Karaman, G. Fiore, E. Frazzoli, J. P. How, "Motion Planning in Complex Environments using Closed-loop Prediction", AIAA Guidance, Navigation, and Control Conference (GNC), Honolulu, HI, Aug 2008

    • J. McGrew, L. Bush, F. Fan, J. P. How, N. Roy, "Air Combat Strategy using Function Approximation Dynamic Programming", AIAA Guidance, Navigation, and Control Conference (GNC), 2008

    • A. Saenz-Otero, G. Aoude, MM Jeffrey, S. Mohan, A. Fejzic, J. Katz, CM Edwards, DW Miller, "Distributed Satellite Systems Algorithm Maturation with SPHERES Aboard the ISS", 59th International Astronautical Congress, 2008

    • R. S. Sutton, Cs Szepesv'ari, A. Geramifard, M. Bowling, "Dyna-Style Planning with Linear Function Approximation and Prioritized Sweeping", Proceedings of the 24th Conference on Uncertainty in Artificial Intelligence, 2008

    • J. Teo, J. P. How, "Equivalence between Approximate Dynamic Inversion and Proportional-Integral control", IEEE Conference on Decision and Control (CDC), Cancun, Mexico, 9-11 December 2008

    Technical Reports

    Thesis Publications


2007 (top)

    Books and Chapters

    • Alborz Geramifard, Michael Bowling, Martin Zinkevich, Richard Sutton, iLSTD: Eligibility Traces and Convergence Analysis, MIT Press, Cambridge, MA, 2007

    Journal Articles

    • L. Breger, J. P. How, "Gauss's variational equation-based dynamics and control for formation flying spacecraft", AIAA Journal on Guidance, Control, and Dynamics, Vol. 30, No. 2, pp. 437-448, 2007

    • J. P. How, L. S. Breger, M. Mitchell, K. T. Alfriend, R. Carpenter, "Differential semimajor axis estimation performance using carrier-phase differential global positioning system measurements", AIAA Journal on Guidance, Control, and Dynamics, Vol. 30, No. 2, pp. 301-313, 2007

    • Y. Kuwata, A. Richards, T. Schouwenaars, J. P. How, "Distributed Robust Receding Horizon Control for Multivehicle Guidance", IEEE Transactions on Control Systems Technology, Vol. 15, No. 4, pp. 627-641, July 2007

    • S. Park, J. Deyst, J. P. How, "Performance and Lyapunov Stability of a Nonlinear Path-Following Guidance Method", AIAA Journal on Guidance, Control, and Dynamics, Vol. 30, No. 6, pp. 1718-1728, November-December 2007

    • A. Richards, J. P. How, "Robust Decentralized Model Predictive Control", International Journal of Control, Vol. 80, No. 9, pp. 1517-1531, Sept. 2007

    Conference Papers

    • G. S. Aoude, J. P. How, I. M. Garcia, "Two-Stage Path Planning Approach for Designing Multiple Spacecraft Reconfiguration Maneuvers", 20th International Symposium on Space Flight Dynamics, 2007

    • B. Bethke, M. Valenti, J. How, "Cooperative vision based estimation and tracking using multiple UAVs", Conference of Cooperative Control and Optimization, Gainesville, FL, January 2007

    • L. Breger, J. P. How, "Powered Safe Abort for Autonomous Rendezvous of Spacecraft", AIAA Guidance, Navigation and Control Conference, 2007

    • H.-L. Choi, J. P. How, "A Multi-UAV Targeting Algorithm for Ensemble Forecast Improvement", AIAA Guidance, Navigation, and Control Conference (GNC), Hilton Head, SC, August 2007

    • H.-L. Choi, J. P. How, J. A. Hansen, "Ensemble-Based Adaptive Targeting of Mobile Sensor Networks", American Control Conference (ACC), New York City, NY, 9-13 July 2007

    • E. Craparo, J. How, N. Roy, E. Modiano, "Cooperative Exploration under Communication Constraints", AIAA Guidance, Navigation, and Control Conference (GNC), 2007

    • E. Craparo, J. P. How, N. Roy, D. Pucci de Farias, "Decentralized Estimation under Communication Constraints", AIAA Guidance, Navigation and Control Conference, August 2007

    • K. Culligan, M. Valenti, Y. Kuwata, J. P. How, "Three-Dimensional Flight Experiments Using On-Line Mixed-Integer Linear Programming Trajectory Optimization", American Control Conference (ACC), 9-13 July 2007

    • A. Frank, J. S. McGrew, M. Valenti, D. Levine, J. P. How, "Hover, Transition, and Level Flight Control Design for a Single-Propeller Indoor Airplane", AIAA Guidance, Navigation, and Control Conference (GNC), Hilton Head, SC, August 2007

    • M. Jeffrey, L. Breger, J. P. How, "MULTI-OBJECTIVE ONLINE INITIALIZATION OF SPACECRAFT FORMATIONS", International Symposium on Space Flight Dynamics, 2007

    • Y. Kuwata, J. P. How, "Robust Cooperative Decentralized Trajectory Optimization using Receding Horizon MILP", American Control Conference (ACC), 9-13 July 2007

    • Y. Kuwata, A. Richards, J. How, "Robust Receding Horizon Control using Generalized Constraint Tightening", Proceedings of the American Control Conference, New York City, NY, July 2007

    • L. Perea, J. How, L. Breger, P. Elosegui, "Nonlinearity in sensor fusion: Divergence issues in EKF, modified truncated SOF, and UKF", AIAA Guidance, Navigation, and Control Conference (GNC), Aug 2007

    • M. Valenti, B. Bethke, D. Dale, A. Frank, J. McGrew, S. Ahrens, J. P. How, J. Vian, "The MIT Indoor Multi-Vehicle Flight Testbed", IEEE International Conference on Robotics and Automation (ICRA), 10-14 April 2007

    • M. Valenti, B. Bethke, J. P. How, D. P. de Farias, J. Vian, "Embedding Health Management into Mission Tasking for UAV Teams", American Control Conference (ACC), New York City, NY, 9-13 July 2007

    • M. Valenti, D. Dale, J. How, J. Vian, "Mission Health Management for 24/7 Persistent Surveillance Operations", Proceedings of the AIAA Guidance, Navigation, and Control Conference, Myrtle Beach, SC, August 2007

    Technical Reports

    • J. Leonard, D. Barrett, J. How, S. Teller, M. Antone, M. Berger, S. Campbell, A. Epstein, G. Fiore, L. Fletcher, E. Frazzoli, A. Huang, T. Jones, O. Koch, Y. Kuwata, K. Mahelona, D. Moore, K. Moyer, E. Olson, S. Peters, C. Sanders, J. Teo, M. Walter, "Team MIT Urban Challenge Technical Report", 2007

    Thesis Publications


2006 (top)


2005 (top)


2004 (top)


2003 (top)


2002 (top)


2001 (top)


2000 (top)

    Journal Articles

    • D. Banjerdpongchai, J. P. How, "Parametric robust H2 control design using iterative linear matrix inequalities synthesis", AIAA Journal on Guidance, Control, and Dynamics, Vol. 23, No. 1, pp. 138-142, 2000

    Conference Papers

    Thesis Publications


1999 (top)


1998 (top)


1997 (top)

    Journal Articles

    Conference Papers

    • E. H. Anderson, J. P. How, "Adaptive feedforward control for actively isolated spacecraft platforms", AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference and Exhibit, Kissimmee, FL, April 1997

    • E. H. Anderson, J. P. How, "Active vibration isolation using adaptive feedforward control", American Control Conference (ACC), 4-6 June 1997

    • D. Banjerdpongchai, J. P. How, "LMI synthesis of parametric robust H controllers", American Control Conference (ACC), 4-6 June 1997

    • D. Banjerdpongchai, J. P. How, "Convergence analysis of a parametric robust H2 controller synthesis algorithm", IEEE Conference on Decision and Control (CDC), 10-12 Dec 1997

    • F. Bauer, J. Bristow, D. Folta, K. Hartman, D. Quinn, J. P. How, "Satellite Formation Flying Using an Innovative Autonomous Control System (AUTOCON) Environment", AIAA Guidance, Navigation, and Control Conference (GNC), New Orleans, LA, Aug. 1997

    • T. Corazzini, A. Robertson, J. C. Adams, A. Hassibi, J. P. How, "GPS Sensing for Spacecraft Formation Flying", Proceedings of Institute of Navigation GPS Conference, Kansas City, MO, September 1997

    • D. J. Leo, J. P. How, "Reconfigurable actuator-sensor arrays for the active control of sound", SPIE Conference on Smart Structures and Integrated Systems, March 1997

    • S. Lim, J. P. How, "Analysis of LPV systems using a piecewise affine parameter-dependent Lyapunov function", IEEE Conference on Decision and Control (CDC), 10-12 December 1997

    • B. Sayyarrodsari, J. P. How, A. Carrier, "Robust adaptive control of linear systems with constant uncertain parameters", American Control Conference (ACC), 4-6 June 1997

    • Heidi C. Schubert, Jonathan P. How, "Space construction: an experimental testbed to develop enabling technologies", Proceedings of the SPIE conference on Telemanipulator and Telepresence Technologies IV, 1997

    Thesis Publications


1996 (top)

    Journal Articles

    Conference Papers

    • J. C. Adams, A. Robertson, K. Zimmerman, J. P. How, "Technologies for Spacecraft Formation Flying", Proc. of the ION GPS-96 Conference, Kansas City, MO, September 1996

    • D. Banjerdpongchai, J. P. How, "Parametric robust H2 control design using LMI synthesis", AIAA Guidance, Navigation, and Control Conference (GNC), San Diego, CA, July 1996

    • D. Banjerdpongchai, J. P. How, "Parametric robust H2 control design with generalized multipliers via LMI synthesis", IEEE Conference on Decision and Control (CDC), 11-13 Dec 1996

    • S. Lim, J. P. How, "Input command shaping techniques for robust, high-performance control of flexible structures", AIAA Guidance, Navigation, and Control Conference (GNC), San Diego, CA, July 1996

    • David W. Miller, Jonathan P. How 615, "Extended Bandwidth Instrument Pointing and S/C G&C - The Middeck Active Control Experiment (MACE)", Proceedings of 19th Annual AAS Guidance Navigation and Control Conference, Feb 1996

    • H. D. Stevens, J. How, "The limitations of independent controller design for a multiple-link flexible macro-manipulator carrying a rigid mini-manipulator", Proceedings of the 2nd ASCE Conference on Robotics for Challenging Environments, Albuquerque, New Mexico, June 1996

    • E. H. Teague, J. P. How, L. G. Lawson, M. Boerjes, B. W. Parkinson, "TECHNIQUES FOR REAL-TIME CONTROL OF FLEXIBLE STRUCTURES USING GPS", Proceedings of the Annual Rocky Mountain Guidance and Control Conference, Feb 1996

    • E. H. Teague, J. P. How, B. W. Parkinson, "Carrier differential GPS for real-time control of large flexible structures", ION GPS-96, 1996


1995 (top)

    Journal Articles

    • J. P. How, D. W. Miller, "Development of on-orbit predictions for the Middeck Active Control Experiment", Control Engineering Practice, Vol. 3, No. 8, pp. 1105-1111, 1995

    Conference Papers

    • M. E. Campbell, S. C. O. Grocott, J. P. How, D. W. Miller, E. F. Crawley, "Verification procedure for on-orbit controllers for the MIT Middeck Active Control Experiment", American Control Conference (ACC), 21-23 June 1995

    • J. P. How, E. G. Collins, W. M. Haddad, "Optimal Popov controller analysis and synthesis for systems with real parameter uncertainties", AIAA Guidance, Navigation, and Control Conference (GNC), Aug 1995

    • D. W. Miller, J. de Luis, G. Stover, J. P. How, Ketao Liu, S. C. O. Grocott, M. E. Campbell, R. Glaese, E. F. Crawley, "The Middeck Active Control Experiment (MACE): using space for technology research and development", American Control Conference (ACC), 21-23 June 1995

    • E. H. Teague, J. P. How, L.G. Lawson, B.W. Parkinson, "GPS as a structural deformation sensor", AIAA Guidance, Navigation, and Control Conference (GNC), Aug 1995


1994 (top)

    Journal Articles

    • S. Grocott, J. How, D. Miller, D. MacMartin, K. Liu, "Robust control design and implementation on the Middeck Active Control Experiment", AIAA Journal on Guidance, Control, and Dynamics, Vol. 17, No. 6, pp. 1163-1170, 1994

    • W. M. Haddad, J. P. How, S. R. Hall, D. S. Bernstein, "Extensions of mixed-μ bounds to monotonic and odd monotonic nonlinearities using absolute stability theory", International Journal of Control, Vol. 60, No. 5, pp. 905-951, 1994

    • J. P. How, S. R. Hall, W. M. Haddad, "Robust controllers for the Middeck Active Control Experiment using Popov controller synthesis", IEEE Transactions on Control Systems Technology, Vol. 2, No. 2, pp. 73-87, June 1994

    • J. P. How, S. R. Hall, W. M. Haddad, "Applications of Popov controller synthesis to benchmark problems with real parameter uncertainty", AIAA Journal on Guidance, Control, and Dynamics, Vol. 17, No. 4, pp. 759-768, 1994

    Conference Papers

    • S. C. Grocott, J. P. How, D. W. Miller, "Comparison of Robust Control Techniques for Uncertain Structural Systems", AIAA Guidance, Navigation, and Control Conference (GNC), Aug 1994

    • J. P. How, R. Glaese, S. Grocott, D. Miller, "Finite element model based robust controllers for the MIT Middeck Active Control Experiment (MACE)", American Control Conference (ACC), 1994

    • J. P. How, W. M. Haddad, "Robust stability and performance analysis using LC multipliers and the Nyquist criterion", American Control Conference (ACC), June 1994

    • J. P. How, D. W. Miller, "Development of On-orbit Predictions for the Middeck Active Control Experiment", IFAC Symposium on Automatic control in aerospace, 12-16 September 1994

    • Jonathan P. How, David W. Miller, "Assessment of Modelling and Robust Control Techniques for Future Spacecraft: Middeck Active Control Experiment", AAS Guidance Navigation and Control Conference, 1994

    • D. G. MacMartin, J. P. How, "Implementation and prevention of unstable optimal compensators", American Control Conference (ACC), June 1994


1993 (top)

    Conference Papers

    • S. R. Hall, J. P. How, "Mixed H2/μ performance bounds using dissipation theory", IEEE Conference on Decision and Control (CDC), 15-17 December 1993

    • J. P. How, W. M. Haddad, S. R. Hall, "Robust Control Synthesis Examples with Real Parameter Uncertainty using the Popov Criterion", American Control Conference (ACC), 2-4 June 1993

    • J. P. How, S. R. Hall, "Robust controllers for the Middeck Active Control Experiment using Popov controller synthesis", AIAA Guidance, Navigation, and Control Conference (GNC), Aug 1993

    • J. P. How, S. R. Hall, "Connections between the Popov Stability Criterion and Bounds for Real Parameter Uncertainty", American Control Conference (ACC), 2-4 June 1993

    Thesis Publications

    • J. P. How, "Robust Control Design with Real Parameter Uncertainty using Absolute Stability Theory", Ph.D. Thesis, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, Cambridge, MA, February 1993


1992 (top)

    Journal Articles

    • J. P. HOW, S. R. HALL, "Local control design methodologies for a hierarchic control architecture", AIAA Journal on Guidance, Control, and Dynamics, Vol. 15, No. 3, pp. 654-663, 1992

    Conference Papers

    • W. M. Haddad, J. P. How, S. R. Hall, D. S. Bernstein, "Extensions of mixed-mu bounds to monotonic and odd monotonic nonlinearities using absolute stability theory. I", IEEE Conference on Decision and Control (CDC), 16-18 Dec. 1992

    • W. M. Haddad, J. P. How, S. R. Hall, D. S. Bernstein, "Extensions of mixed- mu bounds to monotonic and odd monotonic nonlinearities using absolute stability theory. II", IEEE Conference on Decision and Control (CDC), Dec 1992


1991 (top)

    Journal Articles

    • S. Hall, E. Crawley, J. P. How, B. Ward, "Hierarchic control architecture for intelligent structures", AIAA Journal on Guidance, Control, and Dynamics, Vol. 14, pp. 503-512, 1991

    Conference Papers

    • Eric H. Anderson, Jonathan P. How, "Implementation Issues in the Control of a Flexible Mirror Testbed", Proceedings of SPIE Conference on Active and Adaptive Optical Systems, July 1991

    • E. H. Anderson, G. H. Blackwood, J. P. How, "Passive Damping in the MIT SERC Controlled Structures Testbed", International Symposium on Active Materials and Adaptive Structures, November 1991

    • J. P. How, S. R. Hall, "Local control design methodologies for a hierarchic control architecture", AIAA Guidance, Navigation, and Control Conference (GNC), Aug 1991

    • Jonathan P. How, Eric H. Anderson, David L. Miller, Steven R. Hall, "High Bandwidth Control of Low Area Density Deformable Mirrors", Proceedings of SPIE/AIAA Aerospace Sensing Conference, April 1991


1990 (top)

    Conference Papers

    • S. Hall, E. Crawley, J. How, B. Ward, "A Hierarchic Control Architecture for Intelligent Structures", AIAA Guidance, Navigation, and Control Conference (GNC), Aug 1990