Publications

Thesis

  1. M. Pavone, Dynamic Vehicle Routing for Robotic Networks. PhD thesis , Massachusetts Institute of Technology, Department of Aeronautics and Astronautics , 2010.
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Journal Papers

  1. M. Ono, M. Pavone, Y. Kuwata and J. Balaram, “Chance-constrained dynamic programming with application to risk-aware robotic space exploration,” Autonomous Robots, 2015. In press.
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  2. R. Zhang and M. Pavone, “Control of robotic mobility-on-demand systems: a queueing-theoretical perspective,” International Journal of Robotics Research, 2015. In press.
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  3. L. Janson, E. Schmerling, A. Clark and M. Pavone, “Fast Marching Tree: a Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions,” International Journal of Robotics Research, vol. 34, no. 7, pp. 883-921, 2015.
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  4. Y.-L. Chow, M. Pavone, B. M. Sadler and S. Carpin, “Trading Safety Versus Performance: Rapid Deployment of Robotic Swarms with Robust Performance Constraints,” ASME Journal of Dynamic Systems, Measurement, and Control, 2014. To Appear.
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  5. K. Treleaven, M. Pavone and E. Frazzoli, “Asymptotically Optimal Algorithms for Pickup and Delivery Problems with Application to Large-Scale Transportation Systems,” IEEE Transactions on Automatic Control, 2013.
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  6. M. Pavone, S. L. Smith, E. Frazzoli and D. Rus, “Robotic Load Balancing for Mobility-on-Demand Systems,” International Journal of Robotics Research, vol. 31, no. 7, pp. 839-854, 2012.
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  7. F. Bullo, E. Frazzoli, M. Pavone, K. Savla and S. L. Smith, “Dynamic Vehicle Routing for Robotic Systems,” Proceedings of the IEEE, vol. 99, no. 9, pp. 1482-1504, 2011.
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  8. M. Pavone, E. Frazzoli and F. Bullo, “Adaptive and Distributed Algorithms for Vehicle Routing in a Stochastic and Dynamic Environment,” IEEE Transactions on Automatic Control, vol. 56, no. 6, pp. 1259-1274, 2011.
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  9. M. Pavone, A. Arsie, E. Frazzoli and F. Bullo, “Distributed Algorithms for Environment Partitioning in Mobile Robotic Networks,” IEEE Transactions on Automatic Control, vol. 56, no. 8, pp. 1834 -1848, 2011.
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  10. J. L. Ramirez, M. Pavone, E. Frazzoli and D. W. Miller, “Distributed Control of Spacecraft Formations via Cyclic Pursuit: Theory and Experiments,” AIAA Journal of Guidance, Control, and Dynamics, vol. 33, no. 5, pp. 1655-1669, 2010.
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  11. S. L. Smith, M. Pavone, F. Bullo and E. Frazzoli, “Dynamic Vehicle Routing with Priority Classes of Stochastic Demands,” SIAM Journal on Control and Optimization, vol. 48, no. 5, pp. 3224-3245, 2010.
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  12. M. Pavone, K. Savla and E. Frazzoli, “Sharing the load,” IEEE Robotics & Automation Magazine, vol. 16, no. 2, pp. 52-61, 2009.
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  13. M. Pavone, N. Bisnik, E. Frazzoli and V. Isler, “A Stochastic and Dynamic Vehicle Routing Problem with Time Windows and Customer Impatience,” ACM/Springer Mobile Networks and Applications Journal, vol. 14, no. 3, pp. 350-364, 2009.
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  14. M. Pavone and E. Frazzoli, “Decentralized policies for geometric pattern formation and path coverage,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 129, no. 5, pp. 633-643, 2007.
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  15. M. Pavone, P. Arena, L. Fortuna, M. Frasca and L. Patanè, “Climbing Obstacle in Bio-robots via CNN and Adaptive Attitude Control,” International Journal of Circuit Theory and Applications, vol. 34, no. 1, pp. 109-125, 2006.
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  16. M. Pavone, P. Arena and L. Patanè, “An innovative mechanical and control architecture for a biomimetic hexapod for planetary exploration,” Space Technology, vol. 26, no. 1-2, pp. 13-24, 2006.
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Conferences Proceedings

  1. R. Allen and M. Pavone, “A real-time framework for kinodynamic planning with application to quadrotor obstacle avoidance,” in AIAA Guidance, Navigation, and Control Conference, January 2016. To Appear.

  2. Z. Zhu, E. Schmerling and M. Pavone, “A convex optimization approach to smooth trajectories for motion planning with car-like robots,” in Proc. IEEE Conf. Decision and Control, December 2015. To Appear.
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  3. E. Schmerling, L. Janson and M. Pavone, “Optimal sampling-based motion planning under differential constraints: the drift case with linear affine dynamics,” in Proc. IEEE Conf. Decision and Control, December 2015. To Appear.
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  4. S. Singh, S. D'Amico and M. Pavone, “High-fidelity modeling and control system synthesis for the MGRS drag-free satellite,” in International Symposium on Space Flight Dynamics, October 2015. To Appear.

  5. J. Starek, J. V. Gomez, E. Schmerling, L. Janson and M. Moreno, L. Pavone, “An Asymptotically-Optimal Sampling-Based Algorithm for Bi-Directional Motion Planning,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2015. To Appear.

  6. L. Janson, E. Schmerling and M. Pavone, “Monte Carlo motion planning for robot trajectory optimization under uncertainty,” in International Symposium on Robotics Research, September 2015. To Appear.
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  7. L. Janson, B. Ichter and M. Pavone, “Deterministic sampling-based motion planning: optimality, complexity, and performance,” in Deterministic sampling-based motion planning: optimality, complexity, and performance, September 2015. To Appear.
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  8. R. Zhang and M. Pavone, “A queueing network approach to the analysis and control of mobility-on-demand systems,” in Proc. American Control Conf., July 2015.
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  9. R. Zhang, K. Spieser, E. Frazzoli and M. Pavone, “Models, algorithms, and evaluation for autonomous mobility-on-demand systems,” in Proc. American Control Conf., July 2015.
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  10. B. Hockman, A. Frick, I. Nesnas and M. Pavone, “Design, control, and experimentation of internally-actuated rovers for the exploration of low-gravity planetary bodies,” in Conf. on Field and Service Robotics, June 2015. Best Student Paper Award.
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  11. S. D'Amico, M. Pavone, S. Saraf, A. Alhussien, T. Al-Saud, S. Buchman, R. Byer and C. Farhat, “Miniaturized autonomous distributed space system for future science and exploration,” in International Workshop on Satellite Constellations and Formation Flying, June 2015.
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  12. S. Singh, E. Schmerling and M. Pavone, “Decentralized algorithms for 3D symmetric formations in robotic networks - a contraction theory approach,” in Proc. IEEE Int. Conf. Robotics and Automation, May 2015.
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  13. R. Allen and M. Pavone, “Toward a real-time framework for solving the kinodynamic motion planning problem,” in Proc. IEEE Int. Conf. Robotics and Automation, May 2015.
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  14. E. Schmerling, L. Janson and M. Pavone, “Optimal sampling-based motion planning under differential constraints: the driftless case,” in Proc. IEEE Int. Conf. Robotics and Automation, May 2015.
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  15. J. Starek, B. Barbee and M. Pavone, “A sampling-based approach to spacecraft autonomous maneuvering with safety specifications,” in AAS GN&C Conf, February 2015.
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  16. F. Rossi and M. Pavone, “On the fundamental limitations of performance for distributed decision-making in robotic networks,” in Proc. IEEE Conf. Decision and Control, December 2014.
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  17. F. Rossi and M. Pavone, “Distributed consensus with mixed time/communication bandwidth performance metrics,” in Allerton Conference, October 2014.
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  18. R. Allen, A. Clark, J. Starek and M. Pavone, “A Machine Learning Approach for Real-Time Reachability Analysis,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2014.
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  19. S. Carpin, M. Pavone and B. Sadler, “Rapid Multirobot Deployment with Time Constraints,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2014.
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  20. R. Zhang and M. Pavone, “Control of Robotic Mobility-On-Demand Systems: a Queueing-Theoretical Perspective,” in Proc. Robotics: Science and Systems Conference, July 2014. Best Paper Award Finalist.
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  21. R. Reid, L. Roveda, I. Nesnas and M. Pavone, “Contact Dynamics of Internally-Actuated Platforms for the Exploration of Small Solar System Bodies,” in i-SAIRAS, June 2014.
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  22. Y.-L. Chow and M. Pavone, “A framework for time-consistent, risk-averse model predictive control: theory and algorithms,” in Proc. American Control Conf., June 2014.
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  23. A. Koenig, M. Pavone, J. Castillo and I. Nesnas, “A Dynamical Characterization of Internally-Actuated Microgravity Mobility Systems,” in Proc. IEEE Int. Conf. Robotics and Automation, May 2014.
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  24. L. Janson and M. Pavone, “Fast Marching Trees: a Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions,” in International Symposium on Robotics Research, December 2013.
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  25. Y.-L. Chow and M. Pavone, “A Uniform-grid Discretization Algorithm for Stochastic Optimal Control with Risk Constraints,” in Proc. IEEE Conf. Decision and Control, December 2013.
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  26. F. Rossi and M. Pavone, “Decentralized decision-making on robotic networks with hybrid performance metrics,” in Allerton Conference, October 2013.
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  27. S. L. Smith, M. Pavone, M. Schwager, E. Frazzoli and D. Rus, “Rebalancing the Rebalancers: Optimally Routing Vehicles and Drivers in Mobility-on-Demand Systems,” in Proc. American Control Conf., June 2013.
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  28. Y.-L. Chow and M. Pavone, “Stochastic Optimal Control With Dynamic, Time-Consistent Risk Constraints,” in Proc. American Control Conf., June 2013.
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  29. R. Allen, M. Pavone, C. McQuin, I. Nesnas, J. Castillo, T.-N. Nguyen and J. Hoffman, “Internally-Actuated Rovers for All-Access Surface Mobility: Theory and Experimentation,” in Proc. IEEE Int. Conf. Robotics and Automation, May 2013.
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  30. M. Pavone, J. Castillo, I. Nesnas, J. Hoffman and N. Strange, “Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies,” in IEEE Aerospace Conference, March 2013.
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  31. K. Treleaven, M. Pavone and E. Frazzoli, “Models and Asymptotically Optimal Algorithms for Pickup and Delivery Problems on Roadmaps,” in Proc. IEEE Conf. Decision and Control, December 2012.
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  32. Y. Kuwata, M. Pavone and J. Balaram, “A Risk-Constrained Multi-Stage Decision Making Approach to the Architectural Analysis of Mars Missions,” in Proc. IEEE Conf. Decision and Control, December 2012.
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  33. 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., June 2012.
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  34. J. Castillo, M. Pavone, I. Nesnas and J. Hoffman, “Observational Strategies for the Exploration of Small Solar System Bodies,” in 2012 IEEE Aerospace Conference, March 2012.
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  35. K. Treleaven, M. Pavone and E. Frazzoli, “An Asymptotically Optimal Algorithm for Pickup and Delivery Problems,” in Proc. IEEE Conf. Decision and Control, December 2011.
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  36. M. Pavone, S. L. Smith, E. Frazzoli and D. Rus, “Load Balancing for Mobility-on-Demand Systems,” in Proc. Robotics: Science and Systems Conference, June 2011.
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  37. M. Pavone, K. Treleaven and E. Frazzoli, “Fundamental Performance Limits and Efficient Policies for Transportation-On-Demand Systems,” in Proc. IEEE Conf. Decision and Control, pp. 5622-5629, December 2010.
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  38. M. Pavone and E. Frazzoli, “Dynamic vehicle routing with stochastic time constraints,” in Proc. IEEE Int. Conf. Robotics and Automation, pp. 1460-1467, May 2010.
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  39. M. Pavone, S. L. Smith, F. Bullo and E. Frazzoli, “Dynamic multi-vehicle routing with multiple classes of demands,” in Proc. American Control Conf., pp. 604-609, June 2009.
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  40. J. L. Ramirez, M. Pavone, E. Frazzoli and D. W. Miller, “Distributed control of spacecraft formation via cyclic pursuit: Theory and experiments,” in Proc. American Control Conf., pp. 4811-4817, June 2009.
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  41. M. Pavone, A. Arsie, E. Frazzoli and F. Bullo, “Equitable partitioning policies for robotic networks,” in Proc. IEEE Int. Conf. Robotics and Automation, pp. 2356-2361, May 2009.
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  42. M. Pavone, E. Frazzoli and F. Bullo, “Distributed policies for equitable partitioning: Theory and applications,” in Proc. IEEE Conf. Decision and Control, pp. 4191-4197, December 2008.
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  43. S. L. Smith, M. Pavone, F. Bullo and E. Frazzoli, “Dynamic vehicle routing with heterogeneous demands,” in Proc. IEEE Conf. Decision and Control, pp. 1206-1211, December 2008.
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  44. M. Pavone, E. Frazzoli and F. Bullo, “Decentralized algorithms for stochastic and dynamic vehicle routing with general demand distribution,” in Proc. IEEE Conf. Decision and Control, pp. 4869-4874, December 2007.
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  45. M. Pavone, B. N., E. Frazzoli and V. Isler, “Decentralized Vehicle Routing in a Stochastic and Dynamic Environment with Customer Impatience,” in Proc. international Conf. on Robot Communication and Coordination, pp. 1-8, Article No. 24, October 2007. Best Student Paper Award Finalist.
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  46. M. Pavone and E. Frazzoli, “Decentralized policies for geometric pattern formation,” in Proc. American Control Conf., pp. 3949-3954, July 2007.
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  47. P. Arena, L. Fortuna, M. Frasca and L. Patanè, “Realization of a CNN-Driven Cockroach-Inspired Robot,” in IEEE International Symposium on Circuits and Systems, pp. 2649-2652, May 2006.
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  48. P. Arena, L. Fortuna, M. Frasca, L. Patanè and M. Pavone, “Towards autonomous adaptive behavior in a bio-inspired CNN-controlled robot,” in IEEE International Symposium on Circuits and Systems, pp. 169-172, May 2006.
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  49. M. Pavone, P. Arena and L. Patanè, “An innovative mechanical and control architecture for a biomimetic hexapod for planetary exploration,” in Proc. International Astronautical Congress, October 2005. Paper IAC-05-A3.2.B.09.
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  50. P. Arena, L. Fortuna, M. Frasca, L. Patanè and M. Pavone, “Climbing Obstacles via Bio-Inspired CNN-CPG and Adaptive Attitude Control,” in IEEE International Symposium on Circuits and Systems, pp. 5214-5217, May 2005.
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Books, Book Chapters and Reports

  1. M. Pavone, Autonomous mobility-on-demand systems for future urban mobility. Springer-Daimler Book on Autonomous Driving, 2015.
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  2. J. Starek, B. Acikmese, I. Nesnas and M. Pavone, Spacecraft Autonomy Challenges for Next Generation Space Missions. Springer Lecture Notes in Control and Information Sciences, 2015. In Press.
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  3. J. Enright, E. Frazzoli, M. Pavone and K. Savla, UAV Routing and Coordination in Stochastic, Dynamic Environments. Handbook of Unmanned Aerial Vehicles, Springer Netherlands, 2015.
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  4. E. Frazzoli and M. Pavone, Multi-Vehicle Routing. Springer Encyclopedia of Systems and Control, 2014.
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  5. K. Spieser, K. Treleaven, R. Zhang, E. Frazzoli, D. Morton and M. Pavone, Toward a systematic approach to the design and evaluation of automated mobility-on-demand systems: a case study in Singapore. Springer Lecture Notes in Mobility, 2014.
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  6. M. Quadrelli, M. McHenry, B. Wilcox, J. Hall, R. Volpe, I. Nesnas, H. Nayar, P. Backes, R. Mukherjee, L. Matthies, W. Zimmerman, D. Mittman, M. Pavone and A. Elfes, Guidance, Navigation, and Control Technology Assessment for Future Planetary Science Missions. Technical Report for Planetary Science Division, Science Mission Directorate, NASA, 2013.
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  7. M. Pavone, J. Castillo, J. Hoffman and I. Nesnas, Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies. 2012. Final Report for NASA NIAC 2011 Program.
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