Brett T. Lopez

65 papers A* 8A 5C 2Journal 46Unranked 4

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments. CoRR Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Sung-Kyun Kim, Muhammad Fadhil Ginting, Xianmei Lei, Jeffrey A. Edlund, Seyed Abolfazl Fakoorian, Amanda Bouman, Fernando Chavez, Taeyeon Kim, Gustavo J. Correa, Maira Saboia, Angel Santamaria-Navarro, Brett T. Lopez, Boseong Kim, Chanyoung Jung, Mamoru Sobue, Oriana Peltzer, Joshua Ott, Robert Trybula, Thomas Touma, Marcel Kaufmann, Tiago Stegun Vaquero, Torkom Pailevanian, Matteo Palieri, Yun Chang, Andrzej Reinke, Matthew Anderson, Frederik E. T. Schöller, Patrick Spieler, Lillian Clark, Avak Archanian, Kenny Chen, Hovhannes Melikyan, Anushri Dixit, Harrison Delecki, Daniel Pastor, Barry Ridge, Nicolas Marchal, Jose Uribe, Sharmita Dey, Kamak Ebadi, Kyle Coble, Alexander Nikitas Dimopoulos, Vivek Thangavelu, Vivek Shankar Varadharajan, Nicholas Palomo, Antoni Rosinol, Arghya Chatterjee, Christoforos Kanellakis, Björn Lindqvist, Micah Corah, Kyle Strickland, Ryan Stonebraker, Michael Milano, Christopher E. Denniston, Sami Sahnoune, Thomas Claudet, Seungwook Lee, Gautam Salhotra, Edward Terry, Rithvik Musuku, Robin Schmid, Tony Tran, Ara Kourchians, Justin Schachter, Héctor Azpúrua, Levi Resende, Arash Kalantari, Jeremy Nash, Josh Lee, Christopher Patterson, Jennifer G. Blank, Kartik Patath, Yuki Kubo, Ryan Alimo, Yasin Almalioglu, Aaron Curtis, Jacqueline H. Sly, Tesla Wells, Nhut T. Ho, Mykel J. Kochenderfer, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2025	J	`jnl`	Analysis of the Geometric Heat Flow Equation: Computing Geodesics in Real-Time with Convergence Guarantees. CoRR Samuel G. Gessow, Brett T. Lopez
2025	J	`jnl`	Geometric Multi-Session Map Merging with Learned Local Descriptors. CoRR Yanlong Ma, Nakul S. Joshi, Christa S. Robison, Philip R. Osteen, Brett T. Lopez
2025	J	`jnl`	New Insights into Cascaded Geometric Flight Control: From Performance Guarantees to Practical Pitfalls. CoRR Brett T. Lopez
2025	J	`jnl`	OptMap: Geometric Map Distillation via Submodular Maximization. CoRR David Thorne, Nathan Chan, Christa S. Robison, Philip R. Osteen, Brett T. Lopez
2025	J	`jnl`	STITCHER: Constrained Trajectory Planning in Complex Environments with Real-Time Motion Primitive Search. CoRR Helene J. Levy, Brett T. Lopez
2025	A*	`conf`	Submodular Optimization for Keyframe Selection & Usage in SLAM. ICRA David Thorne, Nathan Chan, Yanlong Ma, Christa S. Robison, Philip R. Osteen, Brett T. Lopez
2025	J	`jnl`	Two-Impulse Trajectory Design in Two-Body Systems With Riemannian Geometry. CoRR Samuel G. Gessow, James Tseng, Eden Zafran, Brett T. Lopez
2024	J	`jnl`	Dynamic Adaptation Gains for Nonlinear Systems With Unmatched Uncertainties. IEEE Control. Syst. Lett. Brett T. Lopez, Jean-Jacques E. Slotine
2024	J	`jnl`	Information Control Barrier Functions: Preventing Localization Failures in Mobile Systems Through Control. CoRR Samuel G. Gessow, David Thorne, Brett T. Lopez
2024	J	`jnl`	Information Control Barrier Functions: Preventing Localization Failures in Mobile Systems Through Control. IEEE Control. Syst. Lett. Samuel G. Gessow, David Thorne, Brett T. Lopez
2024	J	`jnl`	LiDAR Inertial Odometry And Mapping Using Learned Registration-Relevant Features. CoRR Zihao Dong, Jeff Pflueger, Leonard Jung, David Thorne, Philip R. Osteen, Christa S. Robison, Brett T. Lopez, Michael Everett
2024	J	`jnl`	Quaternion Sliding Variables in Manipulator Control. CoRR Brett T. Lopez, Jean-Jacques E. Slotine
2024	J	`jnl`	STITCHER: Real-Time Trajectory Planning with Motion Primitive Search. CoRR Helene J. Levy, Brett T. Lopez
2024	J	`jnl`	Submodular Optimization for Keyframe Selection & Usage in SLAM. CoRR David Thorne, Nathan Chan, Yanlong Ma, Christa S. Robison, Philip R. Osteen, Brett T. Lopez
2023	J	`jnl`	A Contracting Hierarchical Observer for Pose-Inertial Fusion. CoRR Brett T. Lopez
2023	J	`jnl`	Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments. CoRR Amanda Bouman, Joshua Ott, Sung-Kyun Kim, Kenny Chen, Mykel J. Kochenderfer, Brett T. Lopez, Ali-Akbar Agha-Mohammadi, Joel Burdick
2023	—	`conf`	Adaptive Robust Control Contraction Metrics: Transient Bounds in Adaptive Control with Unmatched Uncertainties. CDC Samuel G. Gessow, Brett T. Lopez
2023	J	`jnl`	Adaptive Robust Control Contraction Metrics: Transient Bounds in Adaptive Control with Unmatched Uncertainties. CoRR Samuel G. Gessow, Brett T. Lopez
2023	J	`jnl`	Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM. CoRR Kenny Chen, Ryan Nemiroff, Brett T. Lopez
2023	A*	`conf`	Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction. ICRA Kenny Chen, Ryan Nemiroff, Brett T. Lopez
2023	J	`jnl`	Dynamic Adaptation Gains for Nonlinear Systems with Unmatched Uncertainties. CoRR Brett T. Lopez, Jean-Jacques E. Slotine
2023	A	`conf`	Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping. IROS Ryan Nemiroff, Kenny Chen, Brett T. Lopez
2023	J	`jnl`	Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation. CoRR Ryan Nemiroff, Kenny Chen, Brett T. Lopez
2023	J	`jnl`	Multi-Robot Task Assignment and Path Finding for Time-Sensitive Missions with Online Task Generation. CoRR David Thorne, Brett T. Lopez
2023	C	`conf`	Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety. ACC Brett T. Lopez, Jean-Jacques E. Slotine
2022	A	`conf`	Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments. IROS Amanda Bouman, Joshua Ott, Sung-Kyun Kim, Kenny Chen, Mykel J. Kochenderfer, Brett T. Lopez, Ali-Akbar Agha-Mohammadi, Joel Burdick
2022	—	`conf`	Adaptive Variants of Optimal Feedback Policies. L4DC Brett T. Lopez, Jean-Jacques E. Slotine
2022	J	`jnl`	Direct LiDAR Odometry: Fast Localization With Dense Point Clouds. IEEE Robotics Autom. Lett. Kenny Chen, Brett T. Lopez, Ali-Akbar Agha-Mohammadi, Ankur Mehta
2022	J	`jnl`	Direct LiDAR-Inertial Odometry. CoRR Kenny Chen, Ryan Nemiroff, Brett T. Lopez
2022	J	`jnl`	FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments. IEEE Trans. Robotics Jesus Tordesillas, Brett T. Lopez, Michael Everett, Jonathan P. How
2022	J	`jnl`	NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. Field Robotics Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. 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, Maíra Saboia da Silva, Benjamin Ramtoula, Seyed Abolfazl 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, Hovhannes Melikyan, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2022	J	`jnl`	Universal Adaptive Control of Nonlinear Systems. IEEE Control. Syst. Lett. Brett T. Lopez, Jean-Jacques E. Slotine
2022	J	`jnl`	Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety. CoRR Brett T. Lopez, Jean-Jacques E. Slotine
2021	J	`jnl`	Adaptive Nonlinear Control With Contraction Metrics. IEEE Control. Syst. Lett. Brett T. Lopez, Jean-Jacques E. Slotine
2021	J	`jnl`	Adaptive Variants of Optimal Feedback Policies. CoRR Brett T. Lopez, Jean-Jacques E. Slotine
2021	J	`jnl`	Direct LiDAR Odometry: Fast Localization with Dense Point Clouds. CoRR Kenny Chen, Brett T. Lopez, Ali-Akbar Agha-Mohammadi, Ankur Mehta
2021	J	`jnl`	NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. CoRR Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. 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, Maíra Saboia da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Abolfazl 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, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2021	J	`jnl`	Robust Adaptive Control Barrier Functions: An Adaptive and Data-Driven Approach to Safety. IEEE Control. Syst. Lett. Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How
2021	—	`conf`	Safe Motion Planning with Tubes and Contraction Metrics. CDC Sumeet Singh, Hiroyasu Tsukamoto, Brett T. Lopez, Soon-Jo Chung, Jean-Jacques E. Slotine
2021	A*	`conf`	Sliding on Manifolds: Geometric Attitude Control with Quaternions. ICRA Brett T. Lopez, Jean-Jacques E. Slotine
2021	J	`jnl`	Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors. CoRR Seyed Abolfazl Fakoorian, Angel Santamaria-Navarro, Brett T. Lopez, Dan Simon, Ali-Akbar Agha-Mohammadi
2021	A	`conf`	Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints. IROS Kenny Chen, Alexandra Pogue, Brett T. Lopez, Ali-Akbar Agha-Mohammadi, Ankur Mehta
2020	J	`jnl`	Adaptive Safety for Uncertain Nonlinear Systems with Control Barrier Functions and Contraction Metrics. CoRR Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How
2020	A*	`conf`	Dynamic Landing of an Autonomous Quadrotor on a Moving Platform in Turbulent Wind Conditions. ICRA Aleix Paris, Brett T. Lopez, Jonathan P. How
2020	J	`jnl`	FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments. CoRR Jesus Tordesillas, Brett T. Lopez, Michael Everett, Jonathan P. How
2020	J	`jnl`	Performance Analysis of Adaptive Dynamic Tube MPC. CoRR Savva Morozov, Parker C. Lusk, Brett T. Lopez, Jonathan P. How
2020	J	`jnl`	Sliding on Manifolds: Geometric Attitude Control with Quaternions. CoRR Brett T. Lopez, Jean-Jacques E. Slotine
2020	J	`jnl`	Universal Adaptive Control for Uncertain Nonlinear Systems. CoRR Brett T. Lopez, Jean-Jacques E. Slotine
2020	J	`jnl`	Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints. CoRR Kenny Chen, Alexandra Pogue, Brett T. Lopez, Ali-Akbar Agha-Mohammadi, Ankur Mehta
2019	J	`jnl`	Contraction Metrics in Adaptive Nonlinear Control. CoRR Brett T. Lopez, Jean-Jacques E. Slotine
2019	J	`jnl`	Dynamic Landing of an Autonomous Quadrotor on a Moving Platform in Turbulent Wind Conditions. CoRR Aleix Paris, Brett T. Lopez, Jonathan P. How
2019	C	`conf`	Dynamic Tube MPC for Nonlinear Systems. ACC Brett T. Lopez, Jonathan P. How, Jean-Jacques E. Slotine
2019	J	`jnl`	Dynamic Tube MPC for Nonlinear Systems. CoRR Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How
2019	A	`conf`	FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments. IROS Jesus Tordesillas, Brett T. Lopez, Jonathan P. How
2019	J	`jnl`	FaSTraP: Fast and Safe Trajectory Planner for Flights in Unknown Environments. CoRR Jesus Tordesillas, Brett T. Lopez, Jonathan P. How
2019	A*	`conf`	Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments. ICRA Jesus Tordesillas, Brett T. Lopez, John Carter, John Ware, Jonathan P. How
2018	J	`jnl`	Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments. CoRR Jesus Tordesillas, Brett T. Lopez, John Carter, John Ware, Jonathan P. How
2018	A*	`conf`	Robust Collision Avoidance via Sliding Control. ICRA Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How
2018	—	`conf`	Robust Powered Descent with Control Contraction Metrics. CDC Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How
2017	A*	`conf`	Aggressive 3-D collision avoidance for high-speed navigation. ICRA Brett T. Lopez, Jonathan P. How
2017	A	`conf`	Aggressive collision avoidance with limited field-of-view sensing. IROS Brett T. Lopez, Jonathan P. How
2017	J	`jnl`	Semantic-level Decentralized Multi-Robot Decision-Making using Probabilistic Macro-Observations. CoRR Shayegan Omidshafiei, Shih-Yuan Liu, Michael Everett, Brett T. Lopez, Christopher Amato, Miao Liu, Jonathan P. How, John Vian
2017	A*	`conf`	Semantic-level decentralized multi-robot decision-making using probabilistic macro-observations. ICRA Shayegan Omidshafiei, Shih-Yuan Liu, Michael Everett, Brett T. Lopez, Christopher Amato, Miao Liu, Jonathan P. How, John Vian
2016	J	`jnl`	Hierarchical Bayesian Noise Inference for Robust Real-time Probabilistic Object Classification. CoRR Shayegan Omidshafiei, Brett T. Lopez, Jonathan P. How, John Vian