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Emilio Frazzoli

ETH Zürich

A Compositional Sheaf-Theoretic Framework for Event-Based Systems

Jan 26, 2021
Gioele Zardini, David I. Spivak, Andrea Censi, Emilio Frazzoli

* EPTCS 333, 2021, pp. 139-153 
* In Proceedings ACT 2020, arXiv:2101.07888. arXiv admin note: substantial text overlap with arXiv:2005.04715 

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Rule-based Optimal Control for Autonomous Driving

Jan 14, 2021
Wei Xiao, Noushin Mehdipour, Anne Collin, Amitai Bin-Nun, Emilio Frazzoli, Radboud Duintjer Tebbens, Calin Belta

* accepted in ICCPS2021 

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Co-Design of Autonomous Systems: From Hardware Selection to Control Synthesis

Nov 21, 2020
Gioele Zardini, Andrea Censi, Emilio Frazzoli

* 8 pages, 6 figures 

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A Formal Approach to the Co-Design of Embodied Intelligence

Nov 21, 2020
Gioele Zardini, Dejan Milojevic, Andrea Censi, Emilio Frazzoli

* 7 pages, 9 figures, submitted to the 2021 IEEE International Conference on Robotics and Automation (ICRA) 

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Minimum-Violation Planning for Autonomous Systems: Theoretical and Practical Considerations

Sep 24, 2020
Tichakorn Wongpiromsarn, Konstantin Slutsky, Emilio Frazzoli, Ufuk Topcu


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Integrated Benchmarking and Design for Reproducible and Accessible Evaluation of Robotic Agents

Sep 09, 2020
Jacopo Tani, Andrea F. Daniele, Gianmarco Bernasconi, Amaury Camus, Aleksandar Petrov, Anthony Courchesne, Bhairav Mehta, Rohit Suri, Tomasz Zaluska, Matthew R. Walter, Emilio Frazzoli, Liam Paull, Andrea Censi

* IROS 2020; Code available at https://github.com/duckietown 

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Quantifying the effect of representations on task complexity

Dec 19, 2019
Julian Zilly, Lorenz Hetzel, Andrea Censi, Emilio Frazzoli

* Workshop paper at Information Theory and Machine Learning Workshop at NeurIPS'19. 13 pages (8 pages + 2 bibliography + 3 appendix) 

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Revisiting the Asymptotic Optimality of RRT*

Sep 20, 2019
Kiril Solovey, Lucas Janson, Edward Schmerling, Emilio Frazzoli, Marco Pavone

* Submitted to ICRA2020 

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On Maximizing Lateral Clearance of an Autonomous Vehicle in Urban Environments

Sep 01, 2019
Francesco Seccamonte, Juraj Kabzan, Emilio Frazzoli

* 7 pages, 8 figures, to be presented at IEEE-ITSC 2019 

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Today Me, Tomorrow Thee: Efficient Resource Allocation in Competitive Settings using Karma Games

Jul 22, 2019
Andrea Censi, Saverio Bolognani, Julian G. Zilly, Shima Sadat Mousavi, Emilio Frazzoli

* 9 pages, 6 figures, conference paper 

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The AI Driving Olympics at NeurIPS 2018

Mar 06, 2019
Julian Zilly, Jacopo Tani, Breandan Considine, Bhairav Mehta, Andrea F. Daniele, Manfred Diaz, Gianmarco Bernasconi, Claudio Ruch, Jan Hakenberg, Florian Golemo, A. Kirsten Bowser, Matthew R. Walter, Ruslan Hristov, Sunil Mallya, Emilio Frazzoli, Andrea Censi, Liam Paull

* Competition, robotics, safety-critical AI, self-driving cars, autonomous mobility on demand, Duckietown 

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Liability, Ethics, and Culture-Aware Behavior Specification using Rulebooks

Mar 01, 2019
Andrea Censi, Konstantin Slutsky, Tichakorn Wongpiromsarn, Dmitry Yershov, Scott Pendleton, James Fu, Emilio Frazzoli

* To appear in ICRA 2019 

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Efficient Nearest-Neighbor Search for Dynamical Systems with Nonholonomic Constraints

Sep 22, 2017
Valerio Varricchio, Brian Paden, Dmitry Yershov, Emilio Frazzoli

* 16 pages, 3 figures, the 12th Workshop on the Algorithmic Foundations of Robotics (WAFR) 2016 

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Landmark Guided Probabilistic Roadmap Queries

Apr 06, 2017
Brian Paden, Yannik Nager, Emilio Frazzoli

* 7 Pages 

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A Generalized Label Correcting Method for Optimal Kinodynamic Motion Planning

Mar 15, 2017
Brian Paden, Emilio Frazzoli

* 16 Pages 

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Design of Admissible Heuristics for Kinodynamic Motion Planning via Sum-of-Squares Programming

Sep 20, 2016
Brian Paden, Valerio Varriccho, Emilio Frazzoli

* 8 Pages 

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Selection of Input Primitives for the Generalized Label Correcting Method

Sep 20, 2016
Brian Paden, Emilio Frazzoli

* 6 pages 

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Set-Point Regulation of Linear Continuous-Time Systems using Neuromorphic Vision Sensors

Sep 18, 2016
Prince Singh, Sze Zheng Yong, Emilio Frazzoli

* Submitted to IEEE Transactions on Automatic Control 

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Simultaneous Mode, Input and State Estimation for Switched Linear Stochastic Systems

Jun 27, 2016
Sze Zheng Yong, Minghui Zhu, Emilio Frazzoli

* Submitted to SIAM Journal on Control and Optimization 

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A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles

Apr 25, 2016
Brian Paden, Michal Cap, Sze Zheng Yong, Dmitry Yershov, Emilio Frazzoli


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Provably Safe and Deadlock-Free Execution of Multi-Robot Plans under Delaying Disturbances

Mar 28, 2016
Michal Čáp, Jean Gregoire, Emilio Frazzoli


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POMDP-lite for Robust Robot Planning under Uncertainty

Feb 23, 2016
Min Chen, Emilio Frazzoli, David Hsu, Wee Sun Lee

* In Proc. IEEE International Conference on Robotics & Automation (ICRA) 2016, with supplementary materials 

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A Martingale Approach and Time-Consistent Sampling-based Algorithms for Risk Management in Stochastic Optimal Control

Jul 08, 2015
Vu Anh Huynh, Leonid Kogan, Emilio Frazzoli


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Planning for Optimal Feedback Control in the Volume of Free Space

Apr 29, 2015
Dmitry Yershov, Michael Otte, Emilio Frazzoli

* ICRA'15, Workshop on Optimal Robot Motion Planning, full paper. Draft for IJRR submission 

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Incremental Sampling-based Algorithm for Minimum-violation Motion Planning

Nov 06, 2013
Luis I. Reyes Castro, Pratik Chaudhari, Jana Tumova, Sertac Karaman, Emilio Frazzoli, Daniela Rus

* 8 pages, final version submitted to CDC '13 

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Free-configuration Biased Sampling for Motion Planning: Errata

Nov 03, 2013
Joshua Bialkowski, Michael Otte, Emilio Frazzoli


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Fast Collision Checking: From Single Robots to Multi-Robot Teams

May 10, 2013
Joshua Bialkowski, Michael Otte, Emilio Frazzoli


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Minimum-violation LTL Planning with Conflicting Specifications

Mar 15, 2013
Jana Tumova, Luis I. Reyes Castro, Sertac Karaman, Emilio Frazzoli, Daniela Rus

* extended version of the ACC 2013 paper 

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A GPS Pseudorange Based Cooperative Vehicular Distance Measurement Technique

Jul 11, 2012
Daiqin Yang, Fang Zhao, Kai Liu, Hock Beng Lim, Emilio Frazzoli, Daniela Rus

* Proc. of the 75th IEEE Vehicular Technology Conference (IEEE VTC'12-Spring), Yokohama, Japan, May 6-9, 2012 

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