Joel Burdick

46 papers A* 5A 9B 1C 3Journal 25Unranked 3
YearRankTypeTitle / Venue / Authors
2026 J jnl
Spectral Decomposition of Inverse Dynamics for Fast Exploration in Model-Based Manipulation.
CoRR
Solvin Sigurdson, Benjamin Rivière, Joel Burdick
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
Risk-Guided Diffusion: Toward Deploying Robot Foundation Models in Space, Where Failure Is Not An Option.
CoRR
Rohan Thakker, Adarsh Patnaik, Vince Kurtz, Jonas Frey, Jonathan Becktor, Sangwoo Moon, Rob Royce, Marcel Kaufmann, Georgios Georgakis, Pascal Roth, Joel Burdick, Marco Hutter, Shehryar Khattak
2024 C conf
Risk-aware Meta-level Decision Making for Exploration Under Uncertainty.
CoDIT
Joshua Ott, Sung-Kyun Kim, Amanda Bouman, Oriana Peltzer, Mamoru Sobue, Harrison Delecki, Mykel J. Kochenderfer, Joel Burdick, 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
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 A conf
EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures.
IROS
Rohan Thakker, Michael Paton, Marlin P. Strub, R. Michael Swan, Guglielmo Daddi, Rob Royce, L. Phillipe Tosi, Matthew Gildner, Tiago Vaquero, Marcel Veismann, Peter V. Gavrilov, Eloise Marteau, Joseph Bowkett, Daniel Loret de Mola Lemus, Yashwanth Kumar Nakka, Benjamin Hockman, Andrew L. Orekhov, Tristan Hasseler, Carl Leake, Benjamin Nuernberger, Pedro Proença, William Reid, William Talbot, Nikola Georgiev, Torkom Pailevanian, Avak Archanian, Eric Ambrose, Jay Jasper, Rachel Etheredge, Christiahn Roman, Dan Levine, Kyohei Otsu, Hovhannes Melikyan, Jeremy Nash, Richard Rieber, Kalind C. Carpenter, Abhinandan Jain, Lori Shiraishi, Daniel Pastor, Sarah Yearicks, Michel D. Ingham, Matthew Robinson, Ali Agha, Matthew J. Travers, Howie Choset, Joel Burdick, Masahiro Ono
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 A conf
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget.
IROS
Oriana Peltzer, Amanda Bouman, Sung-Kyun Kim, Ransalu Senanayake, Joshua Ott, Harrison Delecki, Mamoru Sobue, Mykel J. Kochenderfer, Mac Schwager, Joel Burdick, Ali-Akbar Agha-Mohammadi
2022 J jnl
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget.
CoRR
Oriana Peltzer, Amanda Bouman, Sung-Kyun Kim, Ransalu Senanayake, Joshua Ott, Harrison Delecki, Mamoru Sobue, Mykel J. Kochenderfer, Mac Schwager, Joel Burdick, Ali-Akbar Agha-Mohammadi
2022 J jnl
Human-Scale Mobile Manipulation Using RoMan.
Field Robotics
Chad C. Kessens, Matthew Kaplan, Trevor Rocks, Philip R. Osteen, John G. Rogers, Ethan Stump, Arnon Hurwitz, Jonathan Fink, Long Quang, Mark Gonzalez, Jaymit Patel, Michael Diblasi, Shiyani Patel, Matthew Weiker, Dilip Patel, Joseph Bowkett, Renaud Detry, Sisir Karumanchi, Larry H. Matthies, Joel Burdick, Yash Oza, Aditya Agarwal, Andrew Dornbush, Dhruv Saxena, Maxim Likhachev, Karl Schmeckpeper, Kostas Daniilidis, Ajinkya Kamat, Aditya Mandalika, Sanjiban Choudhury, Siddhartha S. Srinivasa
2022 J jnl
Mid-Air Helicopter Delivery at Mars Using a Jetpack.
CoRR
Jeff Delaune, Jacob S. Izraelevitz, Samuel Sirlin, David Sternberg, Louis Giersch, L. Phillipe Tosi, Evgeniy Sklyanskiy, Larry A. Young, Michael Mischna, Shannah Withrow-Maser, Juergen Mueller, Joshua Bowman, Mark S. Wallace, Håvard Fjær Grip, Larry H. Matthies, Wayne Johnson, Matthew Keennon, Benjamin Pipenberg, Harsh Patel, Christopher Lim, Aaron Schutte, Marcel Veismann, Haley Cummings, Sarah Conley, Jonathan Bapst, Theodore Tzanetos, Roland Brockers, Abhinandan Jain, David S. Bayard, Art Chmielewski, Olivier Toupet, Joel Burdick, Morteza Gharib, J. Balaram
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
Risk-aware Meta-level Decision Making for Exploration Under Uncertainty.
CoRR
Joshua Ott, Sung-Kyun Kim, Amanda Bouman, Oriana Peltzer, Mamoru Sobue, Harrison Delecki, Mykel J. Kochenderfer, Joel Burdick, Ali-Akbar Agha-Mohammadi
2021 J jnl
Differential Flatness and Flatness Inspired Control of Aerial Manipulators based on Lagrangian Reduction.
CoRR
Skylar X. Wei, Peder Harderup, Joel Burdick
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
Nonlinear Controllability Assessment of Aerial Manipulator Systems using Lagrangian Reduction.
CoRR
Skylar X. Wei, Matthew R. Burkhardt, 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
2020 J jnl
A Unified NMPC Scheme for MAVs Navigation With 3D Collision Avoidance Under Position Uncertainty.
IEEE Robotics Autom. Lett.
Sina Sharif Mansouri, Christoforos Kanellakis, Björn Lindqvist, Farhad Pourkamali-Anaraki, Ali-Akbar Agha-Mohammadi, Joel Burdick, George Nikolakopoulos
2020 J jnl
A Unified NMPC Scheme for MAVs Navigation with 3D Collision Avoidance under Position Uncertainty.
CoRR
Sina Sharif Mansouri, Christoforos Kanellakis, Björn Lindqvist, Farhad Pourkamali-Anaraki, Ali-Akbar Agha-Mohammadi, Joel Burdick, George Nikolakopoulos
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
Design and Autonomous Stabilization of a Ballistically-Launched Multirotor.
ICRA
Amanda Bouman, Paul Nadan, Matthew Anderson, Daniel Pastor, Jacob S. Izraelevitz, Joel Burdick, Brett Kennedy
2020 A conf
Dueling Posterior Sampling for Preference-Based Reinforcement Learning.
UAI
Ellen R. Novoseller, Yibing Wei, Yanan Sui, Yisong Yue, Joel Burdick
2020 C conf
Extended Dynamic Mode Decomposition with Learned Koopman Eigenfunctions for Prediction and Control.
ACC
Carl Folkestad, Daniel Pastor, Igor Mezic, Ryan Mohr, Maria Fonoberova, Joel Burdick
2020 J jnl
Motivations and Preliminary Design for Mid-Air Deployment of a Science Rotorcraft on Mars.
CoRR
Jeff Delaune, Jacob S. Izraelevitz, Larry A. Young, William Rapin, Evgeniy Sklyanskiy, Wayne Johnson, Aaron Schutte, Abigail Fraeman, Valerie Scott, Carl Leake, Erik Ballesteros, Shannah Withrow, Raghav Bhagwat, Haley Cummings, Kim Aaron, Marcel Veismann, Skylar Wei, Regina Lee, Luis Pabon Madrid, Morteza Gharib, Joel Burdick
2020 J jnl
The Kinematics of Tracked Vehicles via the Power Dissipation Method.
CoRR
Anushri Dixit, Joel Burdick
2020 — conf
Unsupervised Learning for Subterranean Junction Recognition Based on 2D Point Cloud.
MED
Sina Sharif Mansouri, Farhad Pourkamali-Anaraki, Miguel Castano, Ali-Akbar Agha-Mohammadi, Joel Burdick, George Nikolakopoulos
2020 J jnl
Unsupervised Learning for Subterranean Junction Recognition Based on 2D Point Cloud.
CoRR
Sina Sharif Mansouri, Farhad Pourkamali-Anaraki, Miguel Castano Arranz, Ali-Akbar Agha-Mohammadi, Joel Burdick, George Nikolakopoulos
2019 A* conf
Control Regularization for Reduced Variance Reinforcement Learning.
ICML
Richard Cheng, Abhinav Verma, Gábor Orosz, Swarat Chaudhuri, Yisong Yue, Joel Burdick
2019 J jnl
Design and Autonomous Stabilization of a Ballistically Launched Multirotor.
CoRR
Amanda Bouman, Paul Nadan, Matthew Anderson, Daniel Pastor, Jacob S. Izraelevitz, Joel Burdick, Brett Kennedy
2019 A conf
Design of a Ballistically-Launched Foldable Multirotor.
IROS
Daniel Pastor, Jacob S. Izraelevitz, Paul Nadan, Amanda Bouman, Joel Burdick, Brett Kennedy
2019 J jnl
Design of a Ballistically-Launched Foldable Multirotor.
CoRR
Daniel Pastor, Jacob S. Izraelevitz, Paul Nadan, Amanda Bouman, Joel Burdick, Brett Kennedy
2019 J jnl
Extended Dynamic Mode Decomposition with Learned Koopman Eigenfunctions for Prediction and Control.
CoRR
Carl Folkestad, Daniel Pastor, Igor Mezic, Ryan Mohr, Maria Fonoberova, Joel Burdick
2019 J jnl
Preference-Based Learning for Exoskeleton Gait Optimization.
CoRR
Maegan Tucker, Ellen R. Novoseller, Claudia Kann, Yanan Sui, Yisong Yue, Joel Burdick, Aaron D. Ames
2018 A conf
Optimization-based Design and Analysis of Planar Rotary Springs.
IROS
Nikola Georgiev, Joel Burdick
2017 A conf
Design and analysis of planar rotary springs.
IROS
Nikola Georgiev, Joel Burdick
2017 A conf
Design and analysis of the bearingless planetary gearbox.
IROS
Nikola Georgiev, Joel Burdick
2006 — conf
Automated Tracking of Multiple C. Elegans.
EMBC
Ebraheem I. Fontaine, Joel Burdick, Alan Barr
2005 B conf
Getting better signals out of the brain: decoding algorithms and autonomous electrodes.
IJCNN
Joel Burdick
2002 C conf
A local controllability test for nonlinear multiple model systems.
ACC
Todd D. Murphey, Joel Burdick
1986 A* conf
Motion and force control of robot manipulators.
ICRA
Oussama Khatib, Joel Burdick
1986 A* conf
The explicit dynamic model and inertial parameters of the PUMA 560 arm.
ICRA
Brian S. R. Armstrong, Oussama Khatib, Joel Burdick