David D. Fan

50 papers A* 5A 4C 3Misc 1Journal 29Unranked 7
YearRankTypeTitle / 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
Enter the Mind Palace: Reasoning and Planning for Long-term Active Embodied Question Answering.
CoRR
Muhammad Fadhil Ginting, Dong-Ki Kim, Xiangyun Meng, Andrzej Reinke, Bandi Jai Krishna, Navid Kayhani, Oriana Peltzer, David D. Fan, Amirreza Shaban, Sung-Kyun Kim, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi, Shayegan Omidshafiei
2024 J jnl
Low Frequency Sampling in Model Predictive Path Integral Control.
CoRR
Bogdan I. Vlahov, Jason Gibson, David D. Fan, Patrick Spieler, Ali-Akbar Agha-Mohammadi, Evangelos A. Theodorou
2024 J jnl
Low Frequency Sampling in Model Predictive Path Integral Control.
IEEE Robotics Autom. Lett.
Bogdan I. Vlahov, Jason Gibson, David D. Fan, Patrick Spieler, Ali-Akbar Agha-Mohammadi, Evangelos A. Theodorou
2024 — conf
SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks.
Robotics: Science and Systems
Muhammad Fadhil Ginting, Sung-Kyun Kim, David D. Fan, Matteo Palieri, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi
2024 J jnl
SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks.
CoRR
Muhammad Fadhil Ginting, Sung-Kyun Kim, David D. Fan, Matteo Palieri, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi
2024 J jnl
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge.
Field Robotics
Anushri Dixit, David D. Fan, Kyohei Otsu, Sharmita Dey, Ali-Akbar Agha-Mohammadi, Joel Burdick
2024 A conf
Semantic Belief Behavior Graph: Enabling Autonomous Robot Inspection in Unknown Environments.
IROS
Muhammad Fadhil Ginting, David D. Fan, Sung-Kyun Kim, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi
2024 J jnl
Semantic Belief Behavior Graph: Enabling Autonomous Robot Inspection in Unknown Environments.
CoRR
Muhammad Fadhil Ginting, David D. Fan, Sung-Kyun Kim, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi
2024 A* conf
UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments.
ICRA
Samuel Triest, David D. Fan, Sebastian A. Scherer, Ali-Akbar Agha-Mohammadi
2024 J jnl
UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments.
CoRR
Samuel Triest, David D. Fan, Sebastian A. Scherer, Ali-Akbar Agha-Mohammadi
2024 Misc conf
Velociraptor: Leveraging Visual Foundation Models for Label-Free, Risk-Aware Off-Road Navigation.
CoRL
Samuel Triest, Matthew Sivaprakasam, Shubhra Aich, David D. Fan, Wenshan Wang, Sebastian A. Scherer
2023 A* conf
A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments.
ICRA
Jason Gibson, Bogdan I. Vlahov, David D. Fan, Patrick Spieler, Daniel Pastor, Ali-Akbar Agha-Mohammadi, Evangelos A. Theodorou
2023 J jnl
A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments.
CoRR
Jason Gibson, Bogdan I. Vlahov, David D. Fan, Patrick Spieler, Daniel Pastor, Ali-Akbar Agha-Mohammadi, Evangelos A. Theodorou
2023 J jnl
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge.
CoRR
Anushri Dixit, David D. Fan, Kyohei Otsu, Sharmita Dey, Ali-Akbar Agha-Mohammadi, Joel W. Burdick
2022 A* conf
Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments.
ICRA
Nitish Dashora, Daniel Shin, Dhruv Shah, Henry A. Leopold, David D. Fan, Ali-Akbar Agha-Mohammadi, Nicholas Rhinehart, Sergey Levine
2022 J jnl
Learning Risk-Aware Costmaps for Traversability in Challenging Environments.
IEEE Robotics Autom. Lett.
David D. Fan, Ali-Akbar Agha-Mohammadi, Evangelos A. Theodorou
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 A conf
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains.
IROS
Sharmita Dey, David D. Fan, Robin Schmid, Anushri Dixit, Kyohei Otsu, Thomas Touma, Arndt F. Schilling, Ali-Akbar Agha-Mohammadi
2022 J jnl
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains.
CoRR
Sharmita Dey, David D. Fan, Robin Schmid, Anushri Dixit, Kyohei Otsu, Thomas Touma, Arndt F. Schilling, Ali-Akbar Agha-Mohammadi
2021 J jnl
Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions.
CoRR
Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-Akbar Agha-Mohammadi
2021 J jnl
Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments.
CoRR
Nitish Dashora, Daniel Shin, Dhruv Shah, Henry A. Leopold, David D. Fan, Ali-Akbar Agha-Mohammadi, Nicholas Rhinehart, Sergey Levine
2021 J jnl
Learning Risk-aware Costmaps for Traversability in Challenging Environments.
CoRR
David D. Fan, Ali-Akbar Agha-Mohammadi, Evangelos A. Theodorou
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 A* conf
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments.
ICAPS
Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra, David D. Fan, Kyohei Otsu, Joel Burdick, Ali-Akbar Agha-Mohammadi
2021 J jnl
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments.
CoRR
Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra, David D. Fan, Kyohei Otsu, Joel Burdick, Ali-Akbar Agha-Mohammadi
2021 — conf
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation.
Robotics: Science and Systems
David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-Akbar Agha-Mohammadi
2021 J jnl
STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation.
CoRR
David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-Akbar Agha-Mohammadi
2021 — —
Safe Robot Planning and Control Using Uncertainty-Aware Deep Learning.
David D. Fan
2021 J jnl
Schrödinger Approach to Optimal Control of Large-Size Populations.
IEEE Trans. Autom. Control.
Kaivalya Bakshi, David D. Fan, Evangelos A. Theodorou
2020 J jnl
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments.
CoRR
David D. Fan, Rohan Thakker, Tara Bartlett, Meriem Ben Miled, Leon Kim, Evangelos A. Theodorou, Ali-Akbar Agha-Mohammadi
2020 — conf
Autonomous Off-Road Navigation over Extreme Terrains with Perceptually-Challenging Conditions.
ISER
Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-Akbar Agha-Mohammadi
2020 A conf
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion.
IROS
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
2020 J jnl
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion.
CoRR
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
2020 A* conf
Bayesian Learning-Based Adaptive Control for Safety Critical Systems.
ICRA
David D. Fan, Jennifer Nguyen, Rohan Thakker, Nikhilesh Alatur, Ali-Akbar Agha-Mohammadi, Evangelos A. Theodorou
2020 — conf
Deep Learning Tubes for Tube MPC.
Robotics: Science and Systems
David D. Fan, Ali Agha, Evangelos A. Theodorou
2020 J jnl
Deep Learning Tubes for Tube MPC.
CoRR
David D. Fan, Ali-Akbar Agha-Mohammadi, Evangelos A. Theodorou
2020 J jnl
Towards Resilient Autonomous Navigation of Drones.
CoRR
Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-Akbar Agha-Mohammadi
2019 A conf
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments.
IROS
David D. Fan, Rohan Thakker, Tara Bartlett, Meriem Ben Miled, Leon Kim, Evangelos A. Theodorou, Ali-Akbar Agha-Mohammadi
2019 J jnl
Bayesian Learning-Based Adaptive Control for Safety Critical Systems.
CoRR
David D. Fan, Jennifer Nguyen, Rohan Thakker, Nikhilesh Alatur, Ali-Akbar Agha-Mohammadi, Evangelos A. Theodorou
2019 J jnl
Contact Inertial Odometry: Collisions are your Friend.
CoRR
Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-Akbar Agha-Mohammadi
2019 C conf
Contact Inertial Odometry: Collisions are your Friends.
ISRR
Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-Akbar Agha-Mohammadi
2019 C conf
Towards Resilient Autonomous Navigation of Drones.
ISRR
Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-Akbar Agha-Mohammadi
2018 J jnl
MPC-Inspired Neural Network Policies for Sequential Decision Making.
CoRR
Marcus Pereira, David D. Fan, Gabriel Nakajima An, Evangelos A. Theodorou
2018 — conf
Model-Based Stochastic Search for Large Scale Optimization of Multi-Agent UAV Swarms.
SSCI
David D. Fan, Evangelos A. Theodorou, John Reeder
2018 J jnl
Model-Based Stochastic Search for Large Scale Optimization of Multi-Agent UAV Swarms.
CoRR
David D. Fan, Evangelos A. Theodorou, John Reeder
2017 J jnl
Differential Dynamic Programming for time-delayed systems.
CoRR
David D. Fan, Evangelos A. Theodorou
2017 — conf
Evolving cost functions for model predictive control of multi-agent UAV combat swarms.
GECCO (Companion)
David D. Fan, Evangelos A. Theodorou, John Reeder
2017 C conf
Stochastic control of systems with control multiplicative noise using second order FBSDEs.
ACC
Kaivalya S. Bakshi, David D. Fan, Evangelos A. Theodorou
2016 — conf
Differential Dynamic Programming for time-delayed systems.
CDC
David D. Fan, Evangelos A. Theodorou