Sertac Karaman

Associate Professor of Aeronautics and Astronautics,

Laboratory for Information and Decision Systems,

Institute for Data, Systems and Society,

Massachusetts Institute of Technology

Last update: August 2016

Preprints

[P1] D. Miculescu and S. Karaman. Polling-systems-based Autonomous Vehicle Coordination in Traffic Intersections with No Traffic Signals. arXiv:1607.07896, 2016.

[P2] A. Gorodetsky, S. Karaman, and Y. Marzouk. Function-Train: A continuous analogue of the tensor-train decomposition. arXiv:1510.09088, 2015.

[P3] S. Karaman and E. Frazzoli, High-speed Flight in an Ergodic Forest. arXiv:1202.0253, 2012.

 

Journal Publications

[J14] J. Bialkowski, M. Otte, S. Karaman, and E. Frazzoli. Efficient collision checking in sampling-based motion planning via safety certificates. International Journal of Robotics Research, 35(7):767–796, June 2016.

[J13] V. Huynh, S. Karaman, and E. Frazzoli. An incremental sampling-based algorithm for stochastic optimal control. International Journal of Robotics Research, 35(4):305–333, April 2016.

[J12] M. R. Walter, M. Antone, E. Chuangsuwanich, A. Correa, R. Davis, L. Fletcher, E. Frazzoli, Y. Friedman, J. Glass, J. P. How, J.h. Jeon, S. Karaman, B. Luders, N. Roy, S. Tellex, and S. Teller. A situationally aware voice-commandable robotic forklift working alongside people in unstructured outdoor environments. Journal of Field Robotics, 32(4):590–628, September 2015.

[J11] E. Plaku and S. Karaman. Motion planning with temporal-logic specifications: Progress and challenges. AI Communications, 29(1):151–162, August 2015.

[J10] J. Yu, S. Karaman, and D. Rus. Persistent monitoring with stochastic arrivals at multiple stations. IEEE Transactions on Robotics, 31(3):521–535, March 2014.

[J9] B. Julian, S. Karaman, and D. Rus. On mutual-information-based control of range sensing robots for mapping applications. International Journal of Robotics Research, 33(10):1375–1392, September 2014.

[J8] S. Karaman and E. Frazzoli. Sampling-based algorithms for optimal motion planning. International Journal of Robotics Research, 30(7):846–894, June 2011.

[J7] S. Karaman, T. Shima, and E. Frazzoli. A process algebra-based genetic algorithm. IEEE Transactions on Evolutionary Algorithms, 16(4):489–503, October 2011.

[J6] S. Karaman and E. Frazzoli. Linear temporal logic vehicle routing with applications to multi-UAV mission planning. Journal of Robust and Nonlinear Control, 21(12):1372–1395, August 2011.

[J5] B. Aksun Guvenc, L. Guvenc, and S. Karaman. Robust MIMO disturbance observer analysis and design with application to active car steering. International Journal of Robust and Nonlinear Control, 20(8):873–891, May 2010.

[J4] Y. Kuwata, J. Teo, G. Fiore, S. Karaman, E. Frazzoli, and J.P. How. Real-time motion planning with applications to autonomous urban driving. IEEE Transactions on Control Systems Technology, 17(5):1105–1118, July 2009.

[J3] B. Aksun Guvenc, L. Guvenc, and S. Karaman. Robust yaw stability controller design and hardware-in-the-loop testing for a road vehicle. IEEE Transactions on Vehicular Technology, 58(2):555–571, February 2009.

[J2] 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, [J2] R. Galejs, S. Krishnamurthy, and J. A perception driven autonomous urban vehicle. Journal of Field Robotics, 25(10):727–774, September 2008.

[J1] I. Gunev, A. Varol, S. Karaman, and C. Basdogan. Adaptive Q-control for tapping-mode nanoscanning using a piezoactuated bimorph probe. Review of Scientific Instruments, 78(4):043707, April 2007.

 

Conference Publications

2016

[C58] J. Alora, A. Gorodetsky, S. Karaman, Y. Marzouk, and N. Lowry. Automated synthesis of low-rank control systems from sc-ltl specifications using tensor-train decompositions. In IEEE Conference on Decision and Control (CDC), 2016.

[C57] A. Somanth and S. Karaman. An optimal randomized policy for controlling stochastic growth processes on lattices. In IEEE Conference on Decision and Control (CDC), 2016.

[C56] A. Axelrod, L. Carlone, G. Chowdhary, and S. Karaman. Data-driven prediction of evar with confidence in time-varying datasets. In IEEE Conference on Decision and Control (CDC), 2016.

[C55] R. Talak, S. Karaman, and E. Modiano. Speed limits in autonomous vehicular networks due to communication constraints. In IEEE Conference on Decision and Control (CDC), 2016.

[C54] F. Ma, L. Carlone, U. Ayaz, and S. Karaman. Sparse sensing for resource-constrained depth reconstruction. In IEEE/RSJ Conference on Intelligent Robots and Systems, 2016.

[C53] A. Adler and S. Karaman. The stochastic traveling salesman problem and orienteering for kinodynamic vehicles. In IEEE International Conference on Robotics and Automation (ICRA), 2016.

[C52] J. Tumova, S. Karaman, C. Belta, and D. Rus. Least-violating planning in road networks from temporal logic specifications. In ACM/IEEE International Conference on Cyber-Physical Systems, 2016.

 

2015

[C51] A. Axelrod, G. Chowdhary, and S. Karaman. Exploitation by informed exploration between isolated operatives for information-theoretic data harvesting. In IEEE Conference on Decision and Control (CDC) (submitted), 2015.

[C50] M. Furci, R. Naldi, S. Karaman, and L. Marconi. A combined planning and control strategy for mobile robots navigation in populated environments. In IEEE Conference on Decision and Control (CDC) (submitted), 2015.

[C49] J. Yu, J. Aslam, S. Karaman, and D. Rus. Anytime planning of optimal schedules for a mobile sensing robot. In IEEE/RSJ International Conference on Robots and Systems (IROS), 2015.

[C48] A. Gorodetsky, S. Karaman, and Y. Marzouk. Efficient high-dimensional stochastic optimal motion control using tensor-train decomposition. In Robotics: Science and Systems (RSS), 2015.

[C47] J. Jeon, S. Karaman, and E. Frazzoli. Optimal sampling-based feedback motion trees among obstacles for controllable linear systems with linear constraints. In IEEE International Conference on Robotics and Automation (ICRA), 2015.

 

2014

[C46] D. Miculescu and S. Karaman. Polling-systems-based contol of high-performance provably-safe autonomous intersections. In IEEE Conference on Decision and Control (CDC), 2014.

[C45] A. Somanth, S. Karaman, and K. Youcef-Toumi. Controlling stochastic growth processes on lattices: Wildfire management with robotic fire extinguishers. In IEEE Conference on Decision and Control (CDC), 2014.

[C44] F. Ma and S. Karaman. Maximum-reward motion in a stochastic environemnt: The nonequilibrium statistical mechanics perspective. In Workshop on Algorithmic Foundations of Robotics (WAFR), 2014.

[C43] J. Yu, S. Karaman, and D. Rus. Persistent monitoring of events with stochastic arrivals at multiple stations. In IEEE International Conference on Robotics and Automation (ICRA), 2014.

 

2013

[C42] L. Reyes-Castro, P. Chaudhari, J. Tumova, S. Karaman, E. Frazzoli, and D. Rus. Incremental sampling-based algorithms for minimum-violation motion planning. In IEEE Conference on Decision and Control (CDC), 2013.

[C41] J. Tumova, G. Hall, S. Karaman, E. Frazzoli, and D. Rus. Least-violating strategy synthesis with safety rules. In Hybrid Systems: Computation and Control (HSCC), 2013.

[C40] S. Karaman and E. Frazzoli. Sampling-based optimal motion planning for non-holonomic dynamical systems. In IEEE International Conference on Robotics and Automation (ICRA), 2013.

[C39] B. Julian, S. Karaman, and D. Rus. On mutual-information-based control of range sensing robots for mapping applications. In IEEE/RSJ International Conference on Robots and Systems (IROS), 2013.

[C38] J. Jeon, R. Cowlagi, S. Peters, S. Karaman, E. Frazzoli, P. Tsiotras, and K. Iagnemma. Optimal motion planning with the half-car dynamical model for autonomous high-speed driving. In American Control Conference (ACC), 2013.

[C37] J. Tumova, L. Reyes-Castro, S. Karaman, E. Frazzoli, and D. Rus. Minimum-violating planning with conflict specifications. In American Control Conference (ACC), 2013.

[C36] P. Chaudhari, S. Karaman, D. Hsu, and E. Frazzoli. Sampling-based algorithms for continuous-time pomdps. In American Control Conference (ACC), 2013.

 

2012

[C35] S. Karaman and E. Frazzoli. High-speed flight with limited sensing range in a poisson forest. In IEEE Conference on Decision and Control (CDC), 2012.

[C34] P. Chaudhari, S. Karaman, and E. Frazzoli. An incremenral sampling-based algorithm for optimal filtering. In IEEE Conference on Decision and Control (CDC), 2012.

[C33] J. Bialkowski, S. Karaman, M. Otte, and E. Frazzoli. Efficient collision checking in sampling-based motion planning. In Workshop on Algorithmic Foundations of Robotics (WAFR), 2012.

[C32] S. Karaman and E. Frazzoli. High-speed flight in an ergodic forest. In IEEE Conference on Robotics and Automation (ICRA), 2012.

[C31] V. Huynh, S. Karaman, and E. Frazzoli. An incremental sampling-based algorithm for stochastic optimal control. In IEEE Conference on Robotics and Automation (ICRA), 2012.

[C30] S. Karaman and E. Frazzoli. Sampling-based optimal motion planning with deterministic μ-calculus specifications. In American Control Conference (ACC), 2012.

 

2011

[C29] T. Wongpiromsarn, S. Karaman, and E. Frazzoli. Synthesis of provably correct controllers for autonomous vehicles in urban environments. In IEEE Conference on Intelligent Transportation Systems (ITS), 2011.

[C28] J. Jeon, S. Karaman, and E. Frazzoli. Anytime computation of time-optimal off-road vehicle maneuvers using the RRT*. In IEEE Conference on Decision and Control (CDC), 2011.

[C27] A. Perez, S. Karaman, M. Walter, A. Shkolnik, E. Frazzoli, and S. Teller. Asymptotically-optimal path planning for manipulation using incremental sampling-based algorithms. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.

[C26] J. Bialkowski, S. Karaman, and E. Frazzoli. Massively parallelizing the RRT and the RRT*. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.

[C25] S. Karaman, M. R. Walter, A. Perez, E. Frazzoli, and S. Teller. Real-time motion planning using the RRT*. In IEEE Conference on Robotics and Automation (ICRA), April 2011.

 

2010

[C24] S. Karaman and E. Frazzoli. Optimal kinodynamic motion planning using incremental sampling-based methods. In IEEE Conference on Decision and Control (CDC), Atlanta, GA, December 2010.

[C23] S. Karaman and E. Frazzoli. Incremental sampling-based algorithms for a class of pursuit-evasion games. In Workshop on Algorithmic Foundations of Robotics (WAFR), Singapore, December 2010.

[C22] M. R. Walter, S. Karaman, E. Frazzoli, and S. Teller. Closed-loop pallet engagement in unstructured environments. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, October 2010.

[C21] S. Karaman and E. Frazzoli. Incremental sampling-based algorithms for optimal motion planning. In Robotics: Science and Systems (RSS), Zaragoza, Spain, June 2010.

[C20] B. Luders, S. Karaman, E. Frazzoli, and J. P. How. Bounds on tracking error using closed-loop rapidly-exploring random trees. In American Control Conference (ACC), pages 5406 – 5412, Baltimore, MD, June 2010.

[C19] S. Karaman, M. R. Walter, E. Frazzoli, and S. Teller. Closed-loop pallet engagement in unstructured environments. In ICRA Mobile Manipulation Workshop, Anchorage, AK, May 2010.

[C18] S. J. Teller, A. Correa, R. Davis, L. Fletcher, E. Frazzoli, J. Glass, J.P. How, J.h. Jeon, S. Karaman, B. Luders, N. Roy, T. Sainath, and M.R. Walter. A voice-commandable robotic forklift working alongside humans in minimally-prepared outdoor environments. In IEEE International Conference on Robotics and Automation (ICRA), pages 526 – 533, Anchorage, AK, May 2010.

 

2009

[C17] S. Karaman and E. Frazzoli. Sampling-based motion planning with deterministic μ-calculus specifications. In IEEE Conference on Decision and Control (CDC), Shanghai, China, December 2009.

[C16] S. Karaman, T. Shima, and E. Frazzoli. Task assignment for complex UAV operations using genetic algorithms. In AIAA Guidance, Navigation, and Control Conference (GNC), Chicago, IL, August 2009.

[C15] S. Karaman, M. Faied, A. Girard, and E. Frazzoli. Complex adversarial UAV operations. In AIAA Guidance, Navigation, and Control Conference (GNC), Chicago, IL, August 2009.

[C14] S. Karaman, S. Rasmussen, D. Kingston, and E. Frazzoli. Specification and planning of UAV missions: a process algebra approach. In American Control Conference (ACC), pages 1442 – 1447, June 2009.

 

2008

[C13] S. Karaman and E. Frazzoli. Optimal vehicle routing with metric temporal logic specifications. In IEEE Conference on Decision and Control (CDC), pages 3953 – 3958, December 2008.

[C12] S. Karaman, R. G. Sanfelice, and E. Frazzoli. Optimal control of mixed logical dynamical systems with linear temporal logic specifications. In IEEE Conference on Decision and Control (CDC), pages 2117 – 2122, December 2008.

[C11] S. Karaman and E. Frazzoli. Vehicle routing with linear temporal logic specifications: Applications to multi-UAV mission planning. In AIAA Guidance, Navigation, and Control Conference (GNC), Honolulu, Hawaii, August 2008.

[C10] Y. Kuwata, J. Teo, S. Karaman, G. Fiore, E. Frazzoli, and J. P. How. Motion planning in complex environments using closed-loop prediction. In AIAA Guidance, Navigation, and Control Conference (GNC), Honolulu, Hawaii, August 2008.

[C9] A. Bhatia, M. Graziano, S. Karaman, R. Naldi, and E. Frazzoli. Dubins trajectory tracking using commercial off-the-shelf autopilots. In AIAA Guidance, Navigation, and Control Conference (GNC), Honolulu, Hawaii, August 2008.

[C8] S. Karaman and G. Inalhan. Large-scale task/target assignment for UAV fleets using a distributed branch and price optimzation scheme. In Proceedings of the 17th IFAC World Congress, pages 13310 – 13317, Seoul, Korea, July 2008.

[C7] S. Karaman and E. Frazzoli. Complex mission optimization for multiple-UAVs using linear temporal logic. In American Control Conference (ACC), pages 2003 – 2009, Seattle, WA, June 2008.

 

2007

[C6] A. Cetinkaya, S. Karaman, O. Arslan, M. Aksukur, and G. Inalhan. Design of a distributed C2 architecture for interoperable manned-unmanned fleets. In 7th International Conference on Coordinated Control and Optmiziation, Gainesville, FL, January 2007.

[C5] S. Karaman, M. Aksukur, T. Baltaci, M. Bronz, C. Kurtulus, G. Inalhan, E. Altug, and L. Guvenc. Aricopter: Aerobotic platform for advances in flight, vision controls, and distributed autonomy. In IEEE Intelligent Vehicles Symposium, Istanbul, Turkey, June 2007.

[C4] T. Mutlu, S. Karaman, S. Comak, I. Bayezit, G. Inalhan, and L. Güvenç. Development of a cross-compatible micro-avionics system for aerobotics. In IEEE Intelligent Vehicles Symposium, Istanbul, Turkey, June 2007.

[C3] S. Oncu, S. Karaman, L. Güvenç, S. Ersolmaz, , E. S. Ozturk, E. Çetin, and M. Sinai. Robust yaw stability controller design for a light commercial vehicle using a hardware in the loop steering test rig. In IEEE Intelligent Vehicles Symposium, Istanbul, Turkey, June 2007.

 

2006

[C2] T. Hacibekir, S. Karaman, E. Kural, E. S. Ozturk, M. Demirci, B. Aksun Güvenç, and L. Güvenç. Adaptive headlight system design using hardware-in-the-loop simulation. In IEEE International Conference on Control Applications, Munich, Germany, October 2006.

[C1] S. Karaman, S. Oncu, L. Güvenç, S. S. Ersolmaz, E. Çetin, and A. Kanbolat. Robust velocity scheduled yaw stability control of a light commercial vehicle. In IEEE Intelligent Vehicles Symposium, Tokyo, Japan, June 2006.