Get our free extension to see links to code for papers anywhere online!

Chrome logo Add to Chrome

Firefox logo Add to Firefox

Picture for David D. Fan

Learning Risk-aware Costmaps for Traversability in Challenging Environments


Jul 25, 2021
David D. Fan, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou


  Access Paper or Ask Questions

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge


Mar 28, 2021
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick

* For team website, see https://costar.jpl.nasa.gov/ 

  Access Paper or Ask Questions

STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation


Mar 04, 2021
David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-Akbar Agha-Mohammadi

* Under review. Video link: https://youtu.be/N97cv4eH5c8 

  Access Paper or Ask Questions

PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments


Feb 10, 2021
Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra, David D. Fan, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi


  Access Paper or Ask Questions

Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions


Jan 26, 2021
Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-akbar Agha-mohammadi

* 12 Pages, 7 Figures, 2020 International Symposium on Experimental Robotics (ISER 2020) 

  Access Paper or Ask Questions

Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion


Nov 01, 2020
Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma, Torkom Pailevanian, Sung-Kyun Kim, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi

* Updated copyright statement 

  Access Paper or Ask Questions

Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments


Sep 11, 2020
David D. Fan, Rohan Thakker, Tara Bartlett, Meriem Ben Miled, Leon Kim, Evangelos Theodorou, Ali-akbar Agha-mohammadi


  Access Paper or Ask Questions

Towards Resilient Autonomous Navigation of Drones


Aug 21, 2020
Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-akbar Agha-mohammadi

* In International Symposium on Robotics Research (ISRR) 2019 

  Access Paper or Ask Questions

Deep Learning Tubes for Tube MPC


Feb 05, 2020
David D. Fan, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou


  Access Paper or Ask Questions

Bayesian Learning-Based Adaptive Control for Safety Critical Systems


Oct 05, 2019
David D. Fan, Jennifer Nguyen, Rohan Thakker, Nikhilesh Alatur, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou


  Access Paper or Ask Questions

Contact Inertial Odometry: Collisions are your Friend


Aug 30, 2019
Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-akbar Agha-mohammadi

* In International Symposium on Robotics Research (ISRR) 2019 

  Access Paper or Ask Questions

MPC-Inspired Neural Network Policies for Sequential Decision Making


Mar 14, 2018
Marcus Pereira, David D. Fan, Gabriel Nakajima An, Evangelos Theodorou

* Fixed missing reference to section 4.1 

  Access Paper or Ask Questions