Edward Schmerling

Ed Schmerling 

I am a roboticist at Waymo Research; I recently completed my Ph.D. with the Institute for Computational & Mathematical Engineering at Stanford University. I am a proud graduate of the Stanford Autonomous Systems Laboratory led by Prof. Marco Pavone. My current research interests span questions in robot motion planning and decision making under uncertainty  —  how to model a robot's interaction with its (possibly-sentient) environment, how to efficiently plan actions by closing the loop on only the most relevant data to the task at hand, and how to quantify/certify the performance of these algorithms.

Visit me on github; contact me at schmrlng@stanford.edu.

Publications

  1. K. Leung, E. Schmerling, M. Chen, J. Talbot, J.C. Gerdes and M. Pavone, “On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions,” in Int. Symp. on Experimental Robotics, 2018.
    [BibTeX] [URL]

    @inproceedings{LeungSchmerlingEtAl2018,
      author = {Leung, K. and Schmerling, E. and Chen, M. and Talbot, J. and Gerdes, J. C. and Pavone, M.},
      title = {On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions},
      booktitle = {Int. Symp. on Experimental Robotics}},
      year = {2018},
      url = {https://arxiv.org/abs/1812.11315}
    }
    
  2. B. Ivanovic, E. Schmerling, K. Leung and M. Pavone, “Generative Modeling of Multimodal Multi-Human Behavior,” in IEEE/RSJ Int. Conf. on Intelligent Robots & Systems, 2018.
    [BibTeX] [URL]

    @inproceedings{IvanovicSchmerlingEtAl2018,
      author = {Ivanovic, B. and Schmerling, E. and Leung, K. and Pavone, M.},
      title = {Generative Modeling of Multimodal Multi-Human Behavior},
      booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots & Systems},
      year = {2018},
      url = {https://arxiv.org/abs/1803.02015}
    }
    
  3. E. Schmerling, K. Leung, W. Vollprecht and M. Pavone, “Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction,” in Proc. IEEE Conf. on Robotics and Automation, 2018.
    [BibTeX] [URL]

    @inproceedings{SchmerlingLeungEtAl2018,
      author = {Schmerling, E. and Leung, K. and Vollprecht, W. and Pavone, M.},
      title = {Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction},
      booktitle = {Proc. IEEE Conf. on Robotics and Automation},
      year = {2018},
      url = {https://arxiv.org/abs/1710.09483}
    }
    
  4. B. Ichter, B. Landry, E. Schmerling and M. Pavone, “Perception-Aware Motion Planning via Multiobjective Search on GPUs,” in Int. Symp. on Robotics Research, 2017.
    [BibTeX] [URL]

    @inproceedings{IchterLandryEtAl2017,
      author = {Ichter, B. and Landry, B. and Schmerling, E. and Pavone, M.},
      title = {Perception-Aware Motion Planning via Multiobjective Search on GPUs},
      booktitle = {Int. Symp. on Robotics Research},
      year = {2017},
      url = {https://arxiv.org/abs/1705.02408}
    }
    
  5. B. Ichter, E. Schmerling, A. Agha-mohammadi and M. Pavone, “Real-Time Stochastic Kinodynamic Motion Planning via Multiobjective Search on GPUs,” in Proc. IEEE Conf. on Robotics and Automation, 2017.
    [BibTeX] [URL]

    @inproceedings{IchterSchmerlingEtAl2017,
      author = {Ichter, B. and Schmerling, E. and Agha-mohammadi, A. and Pavone, M.},
      title = {Real-Time Stochastic Kinodynamic Motion Planning via Multiobjective Search on GPUs},
      booktitle = {Proc. IEEE Conf. on Robotics and Automation},
      year = {2017},
      url = {http://arxiv.org/abs/1607.06886}
    }
    
  6. B. Ichter, E. Schmerling and M. Pavone, “Group Marching Tree: Sampling-Based Approximately Optimal Motion Planning on GPUs,” in IEEE Int. Conf. on Robotic Computing, 2017.
    [BibTeX] [URL]

    @inproceedings{IchterSchmerlingEtAl2017b,
      author = {Ichter, B. and Schmerling, E. and Pavone, M.},
      title = {Group Marching Tree: Sampling-Based Approximately Optimal Motion Planning on GPUs},
      booktitle = {IEEE Int. Conf. on Robotic Computing},
      year = {2017},
      url = {https://arxiv.org/abs/1705.02403}
    }
    
  7. E. Schmerling and M. Pavone, “Evaluating Trajectory Collision Probability through Adaptive Importance Sampling for Safe Motion Planning,” in Robotics: Science and Systems, 2017.
    [BibTeX] [URL]

    @inproceedings{SchmerlingPavone2017,
      author = {Schmerling, E. and Pavone, M.},
      title = {Evaluating Trajectory Collision Probability through Adaptive Importance Sampling for Safe Motion Planning},
      booktitle = {Robotics: Science and Systems},
      year = {2017},
      url = {https://arxiv.org/abs/1609.05399}
    }
    
  8. J. A. Starek, E. Schmerling, G. D. Maher, B. W. Barbee and M. Pavone, “Fast, Safe, Propellant-Efficient Spacecraft Motion Planning Under Clohessy-Wiltshire-Hill Dynamics,” AIAA Journal of Guidance, Control, and Dynamics, vol. 40, no. 2, pp. 418-438, 2017.
    [BibTeX] [URL]

    @article{StarekSchmerlingEtAl2017,
      author = {Starek, J. A. and Schmerling, E. and Maher, G. D. and Barbee, B. W. and Pavone, M.},
      title = {Fast, Safe, Propellant-Efficient Spacecraft Motion Planning Under Clohessy-Wiltshire-Hill Dynamics},
      journal = {AIAA Journal of Guidance, Control, and Dynamics},
      year = {2017},
      volume = {40},
      number = {2},
      pages = {418--438},
      url = {https://arxiv.org/abs/1601.00042}
    }
    
  9. J. A. Starek, E. Schmerling, G. D. Maher, B. W. Barbee and M. Pavone, “Real-Time, Propellant-Optimized Spacecraft Motion Planning under Clohessy-Wiltshire-Hill Dynamics,” in IEEE Aerospace Conference, 2016.
    [BibTeX] [URL]

    @inproceedings{StarekSchmerlingEtAl2016,
      author = {Starek, J. A. and Schmerling, E. and Maher, G. D. and Barbee, B. W. and Pavone, M.},
      title = {Real-Time, Propellant-Optimized Spacecraft Motion Planning under Clohessy-Wiltshire-Hill Dynamics},
      booktitle = {IEEE Aerospace Conference},
      year = {2016},
      url = {http://asl.stanford.edu/wp-content/papercite-data/pdf/Starek.Schmerling.ea.AeroConf16.pdf}
    }
    
  10. 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,” Int. Journal of Robotics Research, vol. 34, no. 7, pp. 883-921, 2015.
    [BibTeX] [URL]

    @article{JansonSchmerlingEtAl2015,
      author = {Janson, L. and Schmerling, E. and Clark, A. and Pavone, M.},
      title = {Fast Marching Tree: A Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions},
      journal = {Int. Journal of Robotics Research},
      year = {2015},
      volume = {34},
      number = {7},
      pages = {883--921},
      url = {http://arxiv.org/abs/1306.3532}
    }
    
  11. L. Janson, E. Schmerling and M. Pavone, “Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty,” in Int. Symp. on Robotics Research, 2015.
    [BibTeX] [URL]

    @inproceedings{JansonSchmerlingEtAl2015b,
      author = {Janson, L. and Schmerling, E. and Pavone, M.},
      title = {Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty},
      booktitle = {Int. Symp. on Robotics Research},
      year = {2015},
      url = {http://arxiv.org/abs/1504.08053}
    }
    
  12. E. Schmerling, L. Janson and M. Pavone, “Optimal Sampling-Based Motion Planning under Differential Constraints: the Driftless Case,” in Proc. IEEE Conf. on Robotics and Automation, 2015.
    [BibTeX] [URL]

    @inproceedings{SchmerlingJansonEtAl2015,
      author = {Schmerling, E. and Janson, L. and Pavone, M.},
      title = {Optimal Sampling-Based Motion Planning under Differential Constraints: the Driftless Case},
      booktitle = {Proc. IEEE Conf. on Robotics and Automation},
      year = {2015},
      url = {http://arxiv.org/abs/1403.2483}
    }
    
  13. 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. on Decision and Control, 2015.
    [BibTeX] [URL]

    @inproceedings{SchmerlingJansonEtAl2015b,
      author = {Schmerling, E. and Janson, L. and Pavone, M.},
      title = {Optimal Sampling-Based Motion Planning under Differential Constraints: the Drift Case with Linear Affine Dynamics},
      booktitle = {Proc. IEEE Conf. on Decision and Control},
      year = {2015},
      url = {http://arxiv.org/abs/1405.7421}
    }
    
  14. S. Singh, E. Schmerling and M. Pavone, “Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks - A Contraction Theory Approach,” in Proc. IEEE Conf. on Robotics and Automation, 2015.
    [BibTeX] [URL]

    @inproceedings{SinghSchmerlingEtAl2015,
      author = {Singh, S. and Schmerling, E. and Pavone, M.},
      title = {Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks - A Contraction Theory Approach},
      booktitle = {Proc. IEEE Conf. on Robotics and Automation},
      year = {2015},
      url = {https://arxiv.org/abs/1511.02547}
    }
    
  15. J. A. Starek, J. V. Gomez, E. Schmerling, L. Janson, L. Moreno and M. Pavone, “An Asymptotically-Optimal Sampling-Based Algorithm for Bi-directional Motion Planning,” in IEEE/RSJ Int. Conf. on Intelligent Robots & Systems, 2015.
    [BibTeX] [URL]

    @inproceedings{StarekGomezEtAl2015,
      author = {Starek, J. A. and Gomez, J. V. and Schmerling, E. and Janson, L. and Moreno, L. and Pavone, M.},
      title = {An Asymptotically-Optimal Sampling-Based Algorithm for Bi-directional Motion Planning},
      booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots & Systems},
      year = {2015},
      url = {https://arxiv.org/abs/1507.07602}
    }
    
  16. 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. on Decision and Control, 2015.
    [BibTeX] [URL]

    @inproceedings{ZhuSchmerlingEtAl2015,
      author = {Zhu, Z. and Schmerling, E. and Pavone, M.},
      title = {A Convex Optimization Approach to Smooth Trajectories for Motion Planning with Car-Like Robots},
      booktitle = {Proc. IEEE Conf. on Decision and Control},
      year = {2015},
      url = {http://arxiv.org/abs/1506.01085}
    }