

FORMER MEMBER
Yoshiaki Kuwata
Technologist

 Journal Papers and Book Chapters:
 Y. Kuwata and J. How, "Cooperative Distributed Robust Trajectory Optimization using Receding Horizon MILP," IEEE Transactions on Control Systems Technology, Vol.19, No.2, 2011, pp.423431.
(Link)
 M. Wolf, C. Assad, Y. Kuwata, A. Howard, H. Aghazarian, D. Zhu, T. Lu, A. TrebiOllennu, and T. Huntsberger, "360Degree Visual Detection and Target Tracking on an Autonomous Surface Vehicle," Journal of Field Robotics, Vol.27, No.6, 2010, pp.819833.
(Link)
 Y. Kuwata, J. Teo, G. Fiore, S. Karaman, E. Frazzoli, and J. How, "Realtime Motion Planning with Applications to Autonomous Urban Driving," IEEE Transactions on Control Systems Technology, Vol.17, No.5, September 2009, pp.11051118.
 L. Fletcher, S. Teller, E. Olson, D. Moore, Y. Kuwata, J. How, J. Leonard, I. Miller, M. Campbell, D. Huttenlocher, A. Nathan, F. R. Kline, "The MIT  Cornell Collision and Why it Happened," Journal of Field Robotics, Vol.25, No.10, October 2008, pp.775807.
 J. Leonard, J. How, S. Teller, M. Berger, S. Campbell, G. Fiore, L. Fletcher, E. Frazzoli, A. Huang, S. Karaman, O. Koch, Y. Kuwata, D. Moore, E. Olson, S. Peters, J. Teo, R. Truax, M. Walter, D. Barrett, A. Epstein, K. Maheloni, K. Moyer, T. Jones, R. Buckley, M. Antone, R. Galejs, S. Krishnamurthy, J. Williams, "A PerceptionDriven Autonomous Urban Vehicle," Journal of Field Robotics, Vol.25, No.10, October 2008, pp.727774.
 Y. Kuwata, A. Richards, T. Schouwenaars, and J. How, "Distributed Robust Receding Horizon Control for Multivehicle Guidance," IEEE Transactions on Control Systems Technology, Vol.15, No.4, 2007, pp.627641.
 E. King, Y. Kuwata, and J. How, "Experimental Demonstration of Coordinated Control for Multivehicle Teams," International Journal of Systems Science, Vol.37, No.6, 2006, pp.385398.
 Refereed Conference Papers:
 Y. Kuwata, M. Pavone, and B. Balaram, "A RiskConstrained Multistage Decision Making Approach to the Architectural Analysis of Mars Missions," IEEE Conference on Decision and Control, December, 2012.
 M. Ono, Y. Kuwata, and B. Balaram, "Joint ChanceConstrained Dynamic Programming," IEEE Conference on Decision and Control, December, 2012.
 T. Howard, A. Morfopoulos, J. Morrison, Y. Kuwata, C. Villalpando, L. Matthies, and M. McHenry, "Enabling Continuous Planetary Rover Navigation through FPGA Stereo and Visual Odometry," IEEE Aerospace Conference, March, 2012.
 Y. Kuwata, M. Wolf, D. Zarzhitsky, and T. Huntsberger, "Safe Maritime Navigation with COLREGS Using Velocity Obstacles," IEEE/RSJ International Conference on Intelligent Robotics and Systems, October, 2011.
 M. Wolf, L. Blackmore, Y. Kuwata, N. Fathpour, C. Newman, and A. Elfes, "Probabilistic Motion Planning of Balloons in Strong, Uncertain Wind Fields," IEEE International Conference on Robotics and Automation, May 2010, pp.11231129.
 L. Blackmore, Y. Kuwata, M. Wolf, C. Assad, N. Fathpour, C. Newman, and A. Elfes, "Global Reachability and Path Planning for Planetary Exploration with Montgolfiere Balloons," IEEE International Conference on Robotics and Automation, May 2010, pp.35813588.
 A. Elfes, K. Reh, P. Beauchamp, N. Fathpour, L. Blackmore, C. Newman, Y. Kuwata, M. Wolf, and C. Assad, "Implications of windassisted aerial navigation for Titan mission planning and science exploration," IEEE Aerospace Conference, March, 2010.
 Y. Kuwata, L. Blackmore, M. Wolf, N. Fathpour, C. Newman, and A. Elfes, "Decomposition Algorithm for Global Reachability Analysis on a Timevarying Graph with an Application to Planetary Exploration," IEEE/RSJ International Conference on Intelligent Robotics and Systems, October, 2009, pp.39553960.
 Y. Kuwata, G. Fiore, J. Teo, E. Frazzoli, J. How, "Motion Planning for Urban Driving using RRT," IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep. 2008, pp. 16811686.
 Y. Kuwata, J. Teo, S. Karaman, G. Fiore, E. Frazzoli, J. P. How, "Motion Planning in Complex Environments using Closedloop Prediction," AIAA Guidance, Navigation, and Control Conference and Exhibit, Aug. 2008, AIAA20087166.
 K. Kulligan, M. Valenti, Y. Kuwata, and J. How, "ThreeDimensional Flight Experiments Using OnLine MixedInteger Linear Programming Trajectory Optimization," IEEE American Control Conference, July 2007, pp.53225327.
 Y. Kuwata, A. Richards, and J. How, "Robust Receding Horizon Control using Generalized Constraint Tightening," IEEE American Control Conference, July 2007, pp.44824487.
 Y. Kuwata and J. How, "Robust Cooperative Decentralized Trajectory Optimization using Receding Horizon MILP," IEEE American Control Conference, July 2007, pp.522527.
 Y. Kuwata and J. How, "Decentralized Cooperative Trajectory Optimization for UAVs with Coupling Constraints," IEEE Conference on Decision and Control, Dec 2006, pp.68206825.
 Y. Kuwata, A. Richards, T. Schouwenaars, and J. How, "Decentralized Robust Receding Horizon Control for Multivehicle Guidance," IEEE American Control Conference, June 2006, pp.20472052.
 Y. Kuwata, A. Richards, T. Schouwenaars, and J. How, "Robust Constrained Receding Horizon Control for Trajectory Planning," AIAA Guidance, Navigation, and Control Conference, Aug. 2005, AIAA20056079.
 J. How, E. King, and Y. Kuwata, "Flight Demonstrations of Cooperative Control for UAV Teams," AIAA 3rd Unmanned Unlimited Technical Conference, Workshop and Exhibit, Sep. 2004, AIAA20046490.
 M. Valenti, T. Schouwenaars, Y. Kuwata, E. Feron, J. How, and J. Paunicka, "Implementation of a Manned Vehicle  UAV Mission System," AIAA Guidance, Navigation, and Control Conference, Aug. 2004, AIAA20045142.
 Y. Kuwata and J. How, "Three Dimensional Receding Horizon Control for UAVs," AIAA Guidance, Navigation, and Control Conference, Aug. 2004, AIAA20045144.
 E. King, Y. Kuwata, M. Alighanbari, L. Bertuccelli, and J. How, "Coordination and Control Experiments on a Multivehicle Testbed," IEEE American Control Conference, June 2004, pp.53155320.
 Y. Kuwata and J. How, "Stable Trajectory Design for Highly Constrained Environments using Receding Horizon Control," IEEE American Control Conference, June 2004, pp.902907.
 B. Mettler, M. Valenti, T. Schouwenaars, Y. Kuwata, J. How, J. Paunicka, and E. Feron, "Autonomous UAV Guidance BuildUp: FlightTest Demonstration and Evaluation Plan," AIAA Guidance, Navigation, and Control Conference, Aug. 2003, AIAA20035744.
 A. Richards, Y. Kuwata, and J.P. How, "Experimental Demonstrations of Realtime MILP Control," AIAA Guidance, Navigation, and Control Conference, Aug. 2003, AIAA20035802.
 J. Bellingham, Y. Kuwata, and J. How, "Stable Receding Horizon Trajectory Control for Complex Environments," AIAA Guidance, Navigation, and Control Conference, Aug. 2003, AIAA20035635.
 M. Alighanbari, Y. Kuwata, and J. How, "Coordination and Control of Multiple UAVs with Timing Constraints and Loitering," IEEE American Control Conference, June 2003, pp.53115316.
 Refereed Conference Papers (based on abstract):
 Y. Kuwata and J. Balaram, "Combined EDLMobility Planning for Planetary Missions," Infotech@Aerospace, Mar. 2011, AIAA 20111404.
 H. Nayar, A. Jain, J. Balaram, J. Cameron, M. DiCicco, T. Howard, Y. Kuwata, C. Lim, R. Mukherjee, S. Myint, A. Palkovic, M. Pomerantz, and S. Wall, "Surface Operations Analyses for Lunar Missions," AIAA SPACE 2010 Conference & Exposition, .
 Y. Kuwata and J. How, "Decentralized Cooperative Optimization for Systems Coupled through the Constraints," Edward Elgar Publishing, Cooperative Networks: Control and Optimization,
Proceedings of the Sixth International Conference on Cooperative Control and Optimization, Feb. 2006.
(Link)
 Y. Kuwata and J. How, "Decentralized Receding Horizon Control of Multiple UAVs," World Scientific Publishing Company, Theory And Algorithms For Cooperative Systems, Proceedings of the Fourth Annual Conference on Cooperative Control and Optimization, Dec. 2003.


