Primary Research Areas

  1. Relative Navigation (CDGPS) and Formation Flying Spacecraft

  2. Control and Decision Making for UAVs

  3. Robust, Nonlinear, and Adaptive Control

  4. Ph.D. and Master Theses

Control and Decision Making for UAVs

  1. D. Levine, B. D. Luders, and J. P. How, '' Information-rich Path Planning with Arbitrary Constraints using Rapidly-exploring Random Trees,'' AIAA Infotech@Aerospace, Atlanta, GA, USA, Apr. 2010, submitted.
  2. S. Ponda, H. -L. Choi, and J. P. How, "Predictive planning for heterogeneous teams with human agents," AIAA Infotech@Aerospace, Atlanta, GA, USA, Apr. 2010, submitted.
  3. B. D. Luders, S. Karaman, E. Frazzoli, and J. P. How, '' Bounds on Tracking Error using Closed-Loop Rapidly-Exploring Random Trees,'' Proceedings of the American Control Conference, Baltimore, MD, USA, Jun./Jul. 2010, submitted.
  4. J. Redding, H. -L. Choi, and J.P. How, "An intelligent cooperative control architecture," American Control Conference, Baltimore, MD, USA, July 2010, submitted.
  5. H. -L. Choi, A. K. Whitten, and J. P. How, "Decentralized task allocation for heterogeneous teams with coordination constraints," American Control Conference, Baltimore, MD, USA, July 2010, submitted.
  6. S. Ponda, J. Redding, H. -L. Choi, B. Bethke, J.P. How, M. A. Vavrina, and J. Vian, "Distributed task planning for complex missions with communication constraints," American Control Conference, Baltimore, MD, USA, July 2010, submitted.
  7. B. Bethke, and J.P. How, "Approximate Dynamic Programming Using Model-Free Bellman Residual Elimination," American Control Conference, Baltimore, MD, USA, July 2010, submitted.
  8. B. Bethke, J. Redding, J.P. How, M. A. Vavrina, and J. Vian, "Agent Capability in Persistent Mission Planning using Approximate Dynamic Programming," American Control Conference, Baltimore, MD, USA, July 2010, submitted.
  9. C. S. R. Fraser, L. F. Bertuccelli, H. -L. Choi, and J.P. How, "Hyperparameter consensus methods for agreement under non-Gaussian uncertainties," American Control Conference, Baltimore, MD, USA, July 2010, submitted.
  10. G. S. Aoude, B. D. Luders, and J. P. How, '' Threat Assessment Analysis of Road Intersection Problem in Presence of Erring Drivers using Sampling-Based Algorithms,'' IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, May 2010, submitted.
  11. S. Teller, A. Correa, R. Davis, L. Fletcher, E. Frazzoli, J. Glass, J. P. How, J. Jeon, S. Karaman, B. Luders, N. Roy, T. Sainath, M. R. Walter, '' A Voice-Commanded Robotic Forklift Working Alongside Humans in Minimally-Prepared Outdoor Environments,'' IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, May 2010, submitted.
  12. Y. Kuwata, J. Teo, G. Fiore, S. Karaman, E. Frazzoli, J. P. How, '' Real-Time Motion Planning With Applications to Autonomous Urban Driving,'' IEEE Transactions on Control Systems Technology, vol. 17, no. 5, pp. 1105 - 1118, Sep. 2009.
  13. C. S. R. Fraser, L. F. Bertuccelli, J. P. How, '' Reaching Consensus with Imprecise Probabilities Over a Network,'' AIAA Guidance, Navigation, and Control Conference, Chicago, IL, Aug., 2009, AIAA-2009-5655 .
  14. L. F. Bertuccelli, H.-L. Choi, P. Cho, J. P. How, '' Real- Time Multi- UAV Task Assignment in Dynamic and Uncertain Environments,'' AIAA Guidance, Navigation, and Control Conference, Chicago, IL, Aug., 2009, AIAA-2009-5776 .
  15. S. Park, H.-L. Choi, N. Roy, J. P. How, '' Learning Covariance Dynamics for Path Planning of UAV Sensors in a Large- Scale Dynamic Environment ,'' AIAA Guidance, Navigation, and Control Conference, Chicago, IL, Aug., 2009, AIAA-2009-6116 .
  16. H. -L. Choi and J.P. How, "Continuous trajectory planning of mobile sensors for informative forecasting,"Automatica, submitted
  17. 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.
  18. 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.
  19. H. -L. Choi, L. Brunet, J. P. How, '' Consensus-Based Decentralized Auctions for Robust Task Allocation ,'' IEEE Transactions on Robotics, Vol. 25, No. 4, pp. 912 - 926, 2009.
  20. H. -L. Choi, J. P. How, '' Continuous Motion Planning for Information Forecast ,'' IEEE Conf. on Decision and Control, Cancun, Mexico, Dec., 2008.
  21. 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.
  22. L. Brunet, H. -L. Choi, J. P. How, '' Consensus-Based Auction Approaches for Decentralized Task Assignment ,'' AIAA Guidance, Navigation, and Control Conference, Honolulu, HI, Aug., 2008.
  23. 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.
  24. B. Bethke, J. How, J. Vian, '' Group Health Management of UAV Teams With Applications to Persistent Surveillance,'' American Control Conference, 2008, Seattle, WA.
  25. H. -L. Choi, J. P. How, P. I. Barton '' An Outer-Approximation Algorithm for Generalized Maximum Entropy Sampling ,'' American Control Conference, Seattle, WA, June, 2008.
  26. H. -L. Choi, J. P. How, '' Efficient Targeting of Sensor Networks for Large-Scale Sensor Networks,'' IEEE Trans. on Control Systems Technology, submitted.
  27. 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, Jan., 2008.
  28. H. -L. Choi, J. P. How, '' A Multi-UAV Targeting Algorithm for Ensemble Forecast Improvement ,'' AIAA Guidance, Navigation, and Control Conference, Hilton Head, SC, Aug., 2007.
  29. A. Frank, J.S. McGrew, M. Valenti, D. Levine and J.P. How ''Hover, Transition, and Level Flight Control Design for a Single-Propeller Indoor Airplane,'' 2007 AIAA Guidance, Navigation and Control Conference AIAA-2007-6318
  30. H. -L. Choi, J. P. How, J. A. Hansen '' Ensemble-Based Adaptive Targeting of Mobile Sensor Networks ,'' American Control Conference, New York City, NY, July, 2007.
  31. M. Valenti, B. Bethke, J. How, D. Pucci de Farias, and J. Vian, ''Embedding Health Management into Mission Tasking for UAV Teams,'' IEEE American Controls Conference, July 2007, New York, NY
  32. B. Bethke, M. Valenti, J. How, ''Cooperative Vision Based Estimation and Tracking Using Multiple UAVs ,'' Conference of Cooperative Control and Optimization, January 2007, Gainesville, FL
  33. L. F. Bertuccelli and J. P. How, ''Bayesian Forecasting in Multivehicle Search Operations,'' presented at the 2006 AIAA Guidance, Navigation and Control Conference
  34. M. Alighanbari and J. P. How, ''Robust Decentralized Task Assignment for Cooperative UAVs,'' presented at the 2006 AIAA Guidance, Navigation and Control Conference
  35. G. Tournier, M. Valenti, J. P. How and E. Feron, ''Estimation and Control of a Quadrotor Vehicle Using Monocular Vision and Moire Patterns,'' presented at the 2006 AIAA Guidance, Navigation and Control Conference
  36. M. Valenti, B. Bethke, G. Fiore, J. P. How, and E. Feron, ''Indoor Multi-Vehicle Flight Testbed for Fault Detection, Isolation, and Recovery,'' presented at the 2006 AIAA Guidance, Navigation and Control Conference
  37. Y. Kuwata, A. Richards, T. Schouwenaars, and J. P. How, ''Decentralized Robust Receding Horizon Control for Multi-vehicle Guidance" presented at the IEEE American Control Conference, June 2006.
  38. M. Alighanbari and J. P. How, '' An Unbiased Kalman Consensus Algorithm" presented at the IEEE American Control Conference, June 2006.
  39. L. F. Bertuccelli and J. P. How, ''Search for Dynamic Targets with Uncertain Probability Maps '' presented at the IEEE American Control Conference, June 2006.
  40. T. Schouwenaars, J. P. How, and E. Feron, '' Multi-Vehicle Path Planning for Non-Line of Sight Communication'' presented at the IEEE American Control Conference, June 2006.
  41. I. M. Garcia and J. P. How, ''Improving the Efficiency of Rapidly-exploring Random Trees Using a Potential Function Planner,'' presented at the IEEE Conference on Decision and Control , Dec 2006.
  42. L. F. Bertuccelli and J. P. How, ''Robust UAV Search for Environments with Imprecise Probability Maps'' presented at the IEEE Conference on Decision and Control , Dec 2006.
  43. M. Alighanbari and J. P. How, '' Decentralized Task Assignment for Unmanned Aerial Vehicles'' presented at the IEEE Conference on Decision and Control , Dec 2005.
  44. I. Garcia and J. P. How, ''Trajectory Optimization for Satellite Reconfiguration Maneuvers with Position and Attitude Constraints'' Proceedings of the IEEE American Control Conference, June 2005, pp.889-895
  45. A. Richards and J. P. How, ''Robust Model Predictive Control with Imperfect Information'' Proceedings of the IEEE American Control Conference, June 2005, pp. 268-274.
  46. M. Alighanbari and J. P. How, ''Cooperative Task Assignment of Unmanned Aerial Vehicles in Adversarial Environments'' Proceedings of the IEEE American Control Conference, June 2005, pp. 4661-4667.
  47. J. P. How, E. King, and Y. Kuwata, ''Flight Demonstrations of Cooperative Control for UAV Teams,'' AIAA 3rd Unmanned Unlimited Technical Conference, Workshop and Exhibit, Chicago, IL, Sept. 2004.
  48. L. Bertuccelli, M. Alighanbari, and J. P. How, ''Robust Planning for Coupled, Cooperative UAV Missions,'' Proceedings of the IEEE CDC, 2004, pp. 2917--2923.
  49. A. Richards and J. P. How, ''Decentralized Model Predictive Control of Cooperating UAVs,'' Proceedings of the IEEE Conference on Decision and Control, 2004, pp. 4286-4291.
  50. T. Schouwenaars, M. Valenti, E. Feron, and J. P. How, ``Implementation and Flight Test Results of MILP-based UAV Guidance,'' Proceedings of the IEEE Aerospace Conference, Feb. 2005.
  51. M. Alighanbari, L. F. Bertuccelli, and J. P.How, ''Filter-Embedded UAV Task Assignment Algorithms For Dynamic Environments,'' Proceedings of the AIAA Guidance, Navigation and Control Conference, Aug 2004. AIAA-2004-5251.
  52. T. Schouwenaars, J. P. How, and E. Feron, ''Decentralized Cooperative Trajectory Planning of Multiple Aircraft with Hard Safety Guarantees,'' Proceedings of the AIAA Guidance, Navigation and Control Conference, Aug 2004. AIAA-2004-5141.
  53. Y. Kuwata and J. P. How, "Three Dimensional Receding Horizon Control for UAVs,” Proceedings of the AIAA Guidance, Navigation, and Control Conference, Aug 2004. AIAA-2004-5144.
  54. 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, Aug 2004. AIAA-2004-5142
  55. T. Schouwenaars, B. Mettler, E. Feron, and J. P. How, ''Hybrid Model for Receding Horizon Guidance of Agile Maneuvering Autonomous Rotorcraft,'' Proceedings of the 16th IFAC Symposium on Automatic Control in Aerospace, June 2004.
  56. E. King, M. Alighanbari, and J. P. How. “Experimental Demonstration of Coordinated Control for Multi-Vehicle Teams,”' Proceedings of the 16th IFAC Symposium on Automatic Control in Aerospace, June 2004.
  57. Y. Kuwata and J. P. How, ''Stable Trajectory Design for Highly Constrained Environments using Receding Horizon Control,'' Proceedings of the IEEE American Control Conference, 2004, pp. 902--907.
  58. T. Schouwenaars, J. P. How, and E. Feron, ''Receding Horizon Path Planning with Implicit Safety Guarantees,'' Proceedings of the IEEE American Control Conference, 2004, pp. 5576 - 5581.
  59. 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, 2004, pp. 5315-5320.
  60. Y. Kuwata and J. P. How, ''Decentralized Receding Horizon Control of Multiple UAVs,'' Proc. of the Fourth Annual Conference on Cooperative Control and Optimization, Dec 2003.
  61. 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
  62. 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
  63. A. Richards and J. P. How, "Performance Evaluation Of Rendezvous Using Model Predictive Control," Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003. AIAA-2003-5507
  64. K. Sigurd and J. P. How, "UAV Trajectory Design Using Total Field Collision Avoidance," Proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2003. AIAA-2003-5728
  65. S. Park, J. Deyst, and J. P. How, ''A New Nonlinear Guidance Logic for Trajectory Tracking,'' Proceedings of the AIAA Guidance, Navigation and Control Conference, Aug 2004. AIAA-2004-4900.
  66. B. Mettler, T. Schouwenaars, 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
  67. T. Schouwenaars, B. Mettler, E. Feron and J. P. How, "Robust Motion Planning Using a Maneuver Automaton with Built-in Uncertainties," Proceedings of the IEEE American Control Conference, June 2003, pp. 2211 - 2216.
  68. A. Richards and J. P. How, "Model Predictive Control of Vehicle Maneuvers with Guaranteed Completion Time and Robust Feasibility," Proceedings of the IEEE American Control Conference, June 2003, pp. 4034-4040.
  69. 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
  70. T. Schouwenaars, B. Mettler, E. Feron, and J. P. How, ''Hybrid Architecture for Full-Envelope Autonomous Rotorcraft Guidance," Proceedings of the American Helicopter Society 59th Annual Forum, May 6-8, 2003.
  71. J. S. Bellingham, M. Tillerson, M. Alighanbari and J. P. How, "Cooperative Path Planning for Multiple UAVs in Dynamic and Uncertain Environments," Proceedings of the  IEEE Conference on Decision and Control, Dec. 2002, pp. 2816 - 2822.
  72. T. Schouwenaars, E. Feron, and J. P. How, "Safe Receding Horizon Path Planning for Autonomous Vehicles" 40th Allerton Conference on Communication, Control, and Computation October 2002
  73. A. Richards, J. Bellingham, M. Tillerson, and J. P. How, "Co-ordination and Control of Multiple UAVs," AIAA Guidance, Navigation, and Control Conference, August 2002, AIAA Paper 2002-4588
  74. A. Richards, T. Schouwenaars, J. P. How, and E. Feron, "Spacecraft Trajectory Planning with Avoidance Constraints Using Mixed-Integer Linear Programming," AIAA Journal of Guidance Control and Dynamics, Vol. 25, No. 4, July - August 2002.
  75. A. Richards and J. P. How, "Aircraft Trajectory Planning With Collision Avoidance Using Mixed Integer Linear Programming," Proceedings of the IEEE American Control Conference, May 2002, pp. 1936-1941
  76. J. Bellingham, A. Richards, and J. P. How, "Receding Horizon Control of Autonomous Aerial Vehicles," Proceedings of the IEEE American Control Conference, May 2002, pp. 3741-3746
  77. J. Bellingham, M. Tillerson, A. Richards, J. P. How, "Multi-Task Allocation and Trajectory Design for Cooperating UAVs," in Cooperative Control: Models, Applications and Algorithms at the Conference on Coordination, Control and Optimization, November 2001, pp. 1-19
  78. T. Schouwenaars, E. Feron, B. de Moor, and J. P. How, "Mixed Integer Programming for Multi-vehicle Path Planning, " Proceedings of the European Control Conference, European Union Control Association, Porto, Portugal, September, 2001, pp. 2603-2608.
  79. A. Richards, J. P. How, T. Schouwenaars, and E. Feron, "Plume Avoidance Maneuver Planning Using Mixed Integer Linear Programming," proceedings of the AIAA Guidance, Navigation, and Control Conference, August 2001, AIAA Paper 2001-4091