A complete list of our publications is available in my Google Scholar profile.
For many of our publications, we are releasing the code open source in our GitHub TUD-AMR group.

Journals

(J47) A Serra-Gomez, E Montijano, W Boehmer and J. Alonso-Mora "Active Classification of Moving Targets with Learned Control Policies" , in IEEE Robotics and Automation Letters (RA-L), Apr. 2023. [PDF]

(J46) A. Fielbaum, A. Tirachini and J. Alonso-Mora "Economies and diseconomies of scale in on-demand ridepooling systems" , in Economics of Transportation 34, 100313, May 2023. [PDF]

(J45) A. de Ruijter, O. Cats, J. Alonso-Mora and S. Hoogendoorn "Ride-pooling adoption, efficiency and level of service under alternative demand, behavioural and pricing settings" , in Transportation Planning and Technology, Apr. 2023. [PDF]

(J44) G. Chen, S. Wu, M. Shi, W. Dong, H. Zhu and J. Alonso-Mora "RAST: Risk-Aware Spatio-Temporal Safety Corridors for MAV Navigation in Dynamic Uncertain Environments" , in IEEE Robotics and Automation Letters (RA-L), Feb. 2023. [PDF] [code]

(J43) M. Spahn, M. Wisse and J. Alonso-Mora "Dynamic Optimization Fabrics for Motion Generation , in IEEE Transactions on Robotics (T-RO), Mar. 2023. [PDF] [code]

(J42) L. Peters , V Rubies-Royo, C. J. Tomlin, L. Ferranti, J. Alonso-Mora, C. Stachniss, and D. Fridovich-Keil "Learning Players' Objectives in Continuous Dynamic Games from Partial State Observations", in The International Journal of Robotics Research (IJRR), Apr. 2023. [PDF] [website]

(J41) X.Liu, L. Peters , and J. Alonso-Mora, "Learning to Play Trajectory Games Against Opponents with Unknown Objectives", in IEEE Robotics and Automation Letters (RA-L), Apr. 2023. [PDF] [video] [website]

(J40) R. Perez-Dattari, B. Brito, O. de Groot, J. Kober, and J. Alonso-Mora, "Visually-Guided Motion Planning for Autonomous Driving from Interactive Demonstrations", in IFAC Engineering Applications of Artificial Intelligence Journal, Nov. 2022. [PDF] [video] [code]

(J39) L. Ferranti, L. Lyons, R. R. Negenborn, T. Keviczky, and J. Alonso-Mora, "Distributed Nonlinear Trajectory Optimization for Multi-Robot Motion Planning", in IEEE Transactions on Control Systems Technology (T-CST), Oct. 2022. [PDF] [video]

(J38) X. Bai, A. Fielbaum, M. Kronmuller, L. Knoedler, and J. Alonso-Mora, "Group-based Distributed Auction Algorithms for Multi-Robot Task Assignment", in IEEE Transactions on Automation Science and Engineering (T-ASE), May 2022. [PDF]

(J37) B. Brito, A. Agarwal, and J. Alonso-Mora, "Learning Interaction-Aware Guidance for Trajectory Optimization in Dense Traffic Scenarios", in IEEE Transactions on Intelligent Transportation Systems (T-ITS), Apr. 2022. [PDF] [video]

(J36) X. Wang, J. Alonso-Mora, M. Wang, "Probabilistic risk metric for highway driving leveraging multi-modal trajectory prediction", in IEEE Transactions on Intelligent Transportation Systems (T-ITS), Apr. 2022. [PDF]

(J35) B. A. Beirigo, R. R. Negenborn, J. Alonso-Mora, F. Schulte, "A business class for autonomous mobility-on-demand: Modeling service quality contracts in dynamic ridesharing systems", in Transportation Research Part C: Emerging Technologies, Mar. 2022. [PDF]

(J34) L. Knoedler, C. Salmi, H. Zhu, B. Brito and J. Alonso-Mora, "Improving Pedestrian Prediction Models with Self-Supervised Continual Learning", in IEEE Robotics and Automation Letters (RA-L), Feb. 2022. [PDF] [code] [video]

(J33) H. Zhu, B. Brito and J. Alonso-Mora, "Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells", in Autonomous Robots (AURO), Jan. 2022. [PDF] [code] [video]

(J32) A. Fielbaum, R. Kucharski, O. Cats, and J. Alonso-Mora, "How to split the costs and charge the travellers sharing a ride? Aligning system's optimum with users' equilibrium", in European Journal of Operational Research, November 2021. [PDF]

(J31) A. Fielbaum, M. Kronmueller, and J. Alonso-Mora, "Anticipatory routing methods for an on-demand ridepooling mobility system", in Transportation, September 2021. [PDF]

(J30) Z. Chen, J. Alonso-Mora, X. Bai, D. D. Harabor, P. J. Stuckey, "Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery", in IEEE Robotics and Automation Letters (RA-L), March 2021. [PDF] [code]

(J29) B. Brito, M. Everett, J. P. How and J. Alonso-Mora, "Where to go next: Learning a Subgoal Recommendation Policy for Navigation in Dynamic Environments", in IEEE Robotics and Automation Letters (RA-L), March 2021. [PDF] [video]

(J28) H. Zhu, F. Claramunt, B. Brito, and J. Alonso-Mora, "Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments", in IEEE Robotics and Automation Letters (RA-L), March 2021. [PDF] [video]

(J27) O. de Groot, B. Brito, L. Ferranti, D. Gavrila and J. Alonso-Mora, "Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments", in IEEE Robotics and Automation Letters (RA-L), March 2021. [PDF]

(J26) A. Fielbaum, X. Bai, and J. Alonso-Mora, "On-demand ridesharing with optimized pick-up and drop-off walking locations", in Transportation Research Part C: Emerging Technologies, May 2021. [PDF]

(J25) S. Park, M. Cap, J. Alonso-Mora, C. Ratti, and D. Rus "Social Trajectory Planning for Urban Autonomous Surface Vessels", in IEEE Transactions on Robotics (T-RO), Dec. 2020. [PDF]

(J24) A. Fielbaum and J. Alonso-Mora, "Unreliability in ridesharing systems: Measuring changes in users' times due to new requests", in Transportation Research Part C: Emerging Technologies, Dec. 2020. [PDF]

(J23) R. Kucharski, A. Fielbaum, J. Alonso-Mora and O. Cats, "If you are late, everyone is late: late passenger arrival and ride-pooling systems' performance", in Transportmetrica A: Transport Science, Oct. 2020. [PDF]

(J22) N. D. Potdar, G. C. H. D. de Croon and J. Alonso-Mora, "Online Trajectory Planning and Control of a MAV Payload System in Dynamic Environments", in Springer Autonomous Robots, Jun. 2020. [PDF] [video]

(J21) H. Andersen, J. Alonso-Mora, Y.H. Eng, D. Rus and M. Ang, "Trajectory Optimization and Situational Analysis Framework for Autonomous Overtaking with Visibility Maximization", in IEEE Transactions on Intelligent Vehicles (T-IV), 2020. [PDF] [video]

(J20) W. Schwarting, A. Pearson, J. Alonso-Mora, S. Karaman, D. Rus, "Social behavior for autonomous vehicles", in Proceedings of the National Academy of Sciences USA (PNAS), Nov. 2019. [web], [PDF], [PDF-supplemental], [video]

(J19) B. Brito, B. Floor, L. Ferranti and J. Alonso-Mora, "Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments", in IEEE Robotics and Automation Letters (RA-L), Jul. 2019. [PDF] [video] [code]

(J18) H. Zhu and J. Alonso-Mora, "Chance-constrained Collision Avoidance for MAVs in dynamic environments", in IEEE Robotics and Automation Letters (RA-L), Jan. 2019. [PDF] [video] [code]

(J17) T. Naegeli, S. Oberholzer, S. Pluess, J. Alonso-Mora and O. Hilliges, "Flycon: Real-time Environment-independent Multi-view Human Pose Estimation with Aerial Vehicles", in ACM Transactions on Graphics (SIGGRAPH Asia), Dec. 2018. [PDF] [video]

(J16) J. Alonso-Mora, E. Montijano, T. Naegeli, O. Hilliges, M. Schweger and D. Rus, "Distributed Formation Control in Dynamic Environments", in Autonomous Robots, 2018. [PDF] [video]

(J15) S. Stevsic, T. Naegeli, J. Alonso-Mora and O. Hilliges, "Sample Efficient Learning of Path Following and Obstacle Avoidance Behavior for Quadrotors", in IEEE Robotics and Automation Letters, 2018. [PDF] [video]

(J14) J. Alonso-Mora, P. Beardsley and R. Siegwart, "Cooperative Collision Avoidance for Nonholonomic Robots", in IEEE Transactions on Robotics, vol. 34, no. 2, pp. 404-420, Apr. 2018. [PDF] [video]

(J13) W. Schwarting, J. Alonso-Mora, and D. Rus, "Planning and Decision-Making for Autonomous Vehicles", in Annual Review of Control, Robotics, and Autonomous Systems, vol. 1, pp. 187-210, May 2018. [PDF] [web]

(J12) W. Schwarting, J. Alonso-Mora, L. Paull, S. Karaman, and D. Rus, "Safe Nonlinear Trajectory Generation for Parallel Autonomy With a Dynamic Vehicle Model", in IEEE Transactions on Intelligent Transportation Systems, Dec. 2017. [PDF] [video]

(J11) J. Alonso-Mora, J. A. DeCastro, V. Raman, D. Rus, H. Kress-Gazit, "Reactive mission and motion planning with deadlock resolution avoiding dynamic obstacles", in Autonomous Robots, Special Issue on Online Decision Making in Multi-Robot Coordination, vol. 42, no. 4, pp. 801–824, Apr. 2018. [PDF] [video]

(J10) J. Alonso-Mora, S. Baker, D. Rus, "Multi-robot Formation Control and Object Transport in Dynamic Environments via Constrained Optimization", in The International Journal of Robotics Research, Vol 36, Issue 9, pp. 1000-1021, August 2017. [PDF] [video]

(J9) T. Naegeli, L. Meier, A. Domahidi, J. Alonso-Mora, O. Hilliges, "Real-time Planning for Automated Multi-View Drone Cinematography", in ACM Transactions on Graphics SIGGRAPH, vol. 36, no. 4, Article 132, Jul. 2017. [PDF] [video]

(J8) T. Naegeli, J. Alonso-Mora, A. Domahidi, D. Rus, O. Hilliges, "Real-time Motion Planning for Aerial Videography with Dynamic Obstacle Avoidance and Viewpoint Optimization", in IEEE Robotics and Automation Letters, vol. 2, no. 3, pp. 1696-1703, Jan. 2017. [PDF] [video]

(J7) J. Alonso-Mora, S. Samaranayake, A. Wallar, E. Frazzoli, D. Rus, "On-demand High-capacity Ride-sharing via Dynamic Trip-Vehicle Assignment", in Proceedings of the National Academy of Sciences of the USA (PNAS), vol. 114, no. 3, pp. 462-467, Jan. 2017. [web], [PDF], [PDF-supplemental-method], [PDF-supplemental-with-extra-figures], [video]

(J6) J. Brucker-Cohen, T. Bech, A. Rowe, G. Bushell, L. Birtles, C. Bennewith, O. Bown, D. Sun, P. Su, N. Roy, V. Jan, D. Morozov, T. Digumarti, J. Alonso-Mora, R. Siegwart, P. Beardsley, M. Jacobsen, D.A. Chanel, R. Constant and B. Grosser, "Data Materialities Art Gallery: Introduction and Gallery", in Leonardo, vol. 49, no. 4, pp. 352-374, MIT Press Journals, Aug. 2016. [video]

(J5) J. Alonso-Mora, T. Naegeli, R. Siegwart, P. Beardsley, "Collision Avoidance for Aerial Vehicles in Multi-Agent Scenarios", Autonomous Robots, vol. 39, no. 1, pp. 101–121, Jun. 2015. [PDF], [video]

(J4) M. Rufli, J. Alonso-Mora, R. Siegwart, "Reciprocal Collision Avoidance with Motion Continuity Constraints", in IEEE Transactions on Robotics, vol. 29, no. 4, pp. 899-912, Aug. 2013. [PDF]

(J3) J. Alonso-Mora, A. Breitenmoser, M. Rufli, R. Siegwart, P. Beardsley, "Image and Animation Display with Multiple Robots", in International Journal of Robotics Research, vol. 31, no. 6, pp. 753-773, May 2012. [PDF], [video]

(J2) A. Schoellig, J. Alonso-Mora, R. D'Andrea, "Limited benefit of Sharing Information in Multi-Agent Iterative Learning Control", in Asian Journal of Control, vol. 14, no. 3, pp. 613-623, May 2012. [PDF]

(J1) J. Alonso-Mora, A. Husar, M. Serra, J. Riera, "Numerical model for polymer electrolyte membrane fuel cells with experimental application and validation", in Asia Pacific Journal of Chemical Engineering, vol. 4, no. 1, pp. 55-67, Jan. 2009. [PDF]

Conference proceedings

(C65) K. L. Voogd, J. P. Allamaa, J. Alonso-Mora and T. Son, "Reinforcement Learning from Simulation to Real World Autonomous Driving using Digital Twin", in Proc. IFAC World Congress, July 2023. [PDF]

(C64) S. Casao, A. Otero, A. Serra-Gomez, AC. Murillo, J. Alonso-Mora and E. Montijano, "A Framework for Fast Prototyping of Photo-realistic Environments with Multiple Pedestrians", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2023. [PDF]

(C63) W. Wang, A. Kemmeren, D. Son, J. Alonso-Mora and S. Gil, "Wi-Closure: Reliable and Efficient Search of Inter-Robot Loop Closures Using Wireless Sensing", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2023. [PDF]

(C62) M. Spahn and J. Alonso-Mora, "Autotuning Symbolic Optimization Fabrics for Trajectory Generation", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2023. [PDF] [code]

(C61) K. Mustafa, O. de Groot, X. Wang, J. Kober and J. Alonso-Mora, "Probabilistic Risk Assessment for Chance-Constrained Collision Avoidance in Uncertain Dynamic Environments", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2023. [PDF]

(C60) O. de Groot, L. Ferranti, D. Gavrila and J. Alonso-Mora, "Globally Guided Trajectory Planning in Dynamic Environments", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2023. [PDF] [video]

(C59) L. Streichenberg, E. Trevisan, J. J. Chung, R. Siegwart and J. Alonso-Mora, "Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2023. [PDF]

(C58) X. Wang, Z. Li, J. Alonso-Mora and M. Wang, "Reachability-based confidence-aware probabilistic collision detection in highway driving", in 4th Symposium on Management of Future motorway and urban Traffic Systems (MFTS), Dec. 2022. [PDF][Slides]

(C57) N. Wilde and J. Alonso-Mora, "Do we use the Right Measure? Challenges in Evaluating Reward Learning Algorithms", in Conference on Robot Learning (CoRL), Dec. 2022. [PDF]

(C56) N. Wilde and J. Alonso-Mora, "Online Multi-Robot Task Assignment with Stochastic Blockages", in IEEE Conference on Decision and Control (CDC), Dec. 2022. [PDF]

(C55) M. Kronmueller, A. Fielbaum and J. Alonso-Mora "Routing of Heterogeneous Fleets for Flash Deliveries via Vehicle Group Assignment", in Proc. 2022 IEEE - Int. Conf. on Intelligent Transportation (ITSC), Oct. 2022. [PDF]

(C54) A. Botros, A. Sadeghi, N. Wilde, J. Alonso-Mora and S. L. Smith, "Error-Bounded Approximation of Pareto Fronts in Robot Planning Problems", in 15th Workshop on the Algorithmic Foundations of Robotics (WAFR), Jun. 2022. [PDF]

(C53) X. Wang, Z. Li, J. Alonso-Mora and M. Wang "Prediction-Based Reachability Analysis for Collision Risk Assessment on Highways", in IEEE Intelligent Vehicles Symposium (IV), Jun. 2022. [PDF]

(C52) J. de Vries, E. Trevisan, J. van der Toorn, T. Das, B. Brito, J. Alonso-Mora, "Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2022. [PDF] [video]

(C51) M. Lodel, B. Brito, A. Serra-Gomez, L. Ferranti, R. Babuska, J. Alonso-Mora, "Where to Look Next: Learning Viewpoint Recommendations for Informative Trajectory Planning", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2022. [PDF] [video]

(C50) L. Peters, D. Fridovich-Keil, L. Ferranti, C. J. Alonso-Mora, F. Laine "Learning Mixed Strategies in Trajectory Games", Proc. of Robotics: Science and Systems (RSS) , April 2022. [PDF] [website] [video]

(C49) M. Kronmueller, A. Fielbaum and J. Alonso-Mora, "On-demand Grocery Delivery From Multiple Local Stores With Autonomous Robots", in Proc. 3rd IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS'21), Nov. 2021. [PDF] [presentation]

(C48) A. Ray, A. Pierson, H. Zhu, J. Alonso-Mora and D. Rus "Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints", in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Oct. 2021. [PDF]

(C47) P. Schuller, A. Fielbaum and J. Alonso-Mora, "Towards a geographically even level of service in on-demand ridepooling", in Proc. 2021 IEEE - Int. Conf. on Intelligent Transportation (ITSC), Sep. 2021. [PDF]

(C46) H. Zhu, J. J. Chung, N. R. J. Lawrance, R. Siegwart and J. Alonso-Mora, "Online Informative Path Planning for Active Information Gathering of a 3D Surface", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2021. [PDF] [code]

(C45) M. Spahn, B. Brito and J. Alonso-Mora, "Coupled mobile manipulation via trajectory optimization with free space decomposition", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2021. [PDF] [video]

(C44) B. van den Berg, B. Brito, M. Alirezaei and J. Alonso-Mora, "Curvature Aware Motion Planning with Closed-Loop Rapidly-exploring Random Trees", in IEEE Intelligent Vehicles Symposium (IV), March 2021. [PDF] [video]

(C43) B. Brito, H. Zhu, W. Pan and J. Alonso-Mora, "Social-VRNN: One-Shot Multi-modal Trajectory Prediction for Interacting Pedestrians", in Proc. 2020 Conference on Robot Learning (CoRL), Nov. 2020. [PDF] [video] [presentation]

(C42) A. Serra-Gomez, B. Brito, H. Zhu, J. J. Chung and J. Alonso-Mora, "Whom to Communicate: Learning Efficient Communication for Multi-Robot Collision Avoidance", in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Oct. 2020. [PDF] [video] [presentation]

(C41) J. van Lochem, M. Kronmueller, P. van 't Hof and J. Alonso-Mora, "Anticipatory Vehicle Routing for Same-Day Pick-up and Delivery using Historical Data Clustering", in Proc. IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), Sep. 2020. [PDF] [presentation]

(C40) J. Liu, H. Zhu and J. Alonso-Mora, "Robust Vision-based Obstacle Avoidance for Micro Aerial Vehicles in Dynamic Environments", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2020. [PDF] [video] [presentation]

(C39) A. de Ruijter, O. Cats, J. Alonso-Mora and S. Hoogendoorn, "Ride-Sharing Efficiency and Level of Service under Alternative Demand, Behavioral and Pricing Settings", in Proc. arch Board 2020 Annual Meeting, Jan. 2020. [PDF]

(C38) A. Wallar, W. Schwartig, J. Alonso-Mora and D. Rus, "Optimizing Multi-class Fleet Compositions for Shared Mobility-as-a-Service", in Proc. IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), Oct. 2019. [PDF]

(C37) H. Zhu and J. Alonso-Mora, "B-UAVC: Buffered Uncertainty-Aware Voronoi Cells for Probabilistic Multi-Robot Collision Avoidance", in Proc. 2nd IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS'19), Aug. 2019. [PDF] [video] [presentation]

(C36) A. Wallar, J. Alonso-Mora and D. Rus, "Optimizing Vehicle Distributions and Fleet Sizes for Mobility-on-Demand", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2019. [PDF]

(C35) H. Zhu, J. Juhl, L. Ferranti and J. Alonso-Mora, "Distributed Multi-Robot Formation Splitting and Merging in Dynamic Environments", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2019. [PDF] [video] IEEE ICRA Best Paper Award on Multi-robot Systems

(C34) L. Ferranti, B. Brito, E. Pool, Y. Zheng, R. M. Ensing, R. Happee, B. Shyrokau, J. Kooij, J. Alonso-Mora and D. M. Gavrila, "SafeVRU: A Research Platform for the Interaction of Self-Driving Vehicles with Vulnerable Road Users", in Proc. IEEE Intelligent Vehicles Symposium. June 2019. [PDF] [video]

(C33) D. Fiedler, M. Certicky, J. Alonso-Mora and M. Cap, "The Impact of Ridesharing in Mobility-on-Demand Systems: Simulation Case Study in Prague", in Proc. IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), Nov. 2018. [PDF]

(C32) A. Wallar, M. van der Zee, J. Alonso-Mora and D. Rus, "Vehicle Rebalancing for Mobility-on-Demand Systems with Ride-Sharing", in Proc. of the IEEE/RSJ Conf. on Robotics and Intelligent Systems (IROS), Oct. 2018. [PDF]

(C31) M. Cap and J. Alonso-Mora, "Multi-Objective Analysis of Ridesharing in Automated Mobility-on-Demand", in Proc. Robotics: Science and Systems (RSS), Jun. 2018. [PDF]

(C30) L. Ferranti, R. R. Negenborn, T. Keviczky, and J. Alonso-Mora, "Coordination of Multiple Vessels Via Distributed Nonlinear Model Predictive Control", in Proc. European Control Conference (ECC), June 2018. [PDF] [video]

(C29) B. Zhou, W. Schwarting, D. Rus, and J. Alonso-Mora, "Joint Multi-Policy Behavior Estimation and Receding-Horizon Trajectory Planning for Automated Urban Driving", in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2018. [PDF] [video spotlight] [video exp]

(C28) L. Liebenwein, W. Schwarting, C.-I. Vasile, J. DeCastro, J. Alonso-Mora, S. Karaman, and D. Rus, "Compositional and Contract-based Verification for Autonomous Driving on Road Networks", in Proc. of the Int. Symp. on Robotics Research (ISRR), December 2017. [PDF]

(C27) J. Alonso-Mora, A. Wallar and D. Rus, "Predictive Routing for Autonomous Mobility-on-Demand Systems with Ride-Sharing", in Proc. of the IEEE/RSJ Conf. on Robotics and Intelligent Systems (IROS), October 2017. [PDF] [video]

(C26) M. Kamel, J. Alonso-Mora, R. Siegwart and J. Nieto, "Robust Collision Avoidance for Multiple Micro Aerial Vehicles Using Nonlinear Model Predictive Control", in Proc. of the IEEE/RSJ Conf. on Robotics and Intelligent Systems (IROS), October 2017. [PDF] [video]

(C25) H. Andersen, W. Schwarting, F. Naser, Y. H. Eng, M. H. Ang Jr, D. Rus, and J. Alonso-Mora, "Trajectory Optimization for Autonomous Overtaking with Visibility Maximization", in proc. IEEE Intelligent Transportation Systems Conference, October 2017 [PDF] [video]

(C24) A. Wallar, B. Araki, R. Chang, J. Alonso-Mora and D. Rus, "Foresight: Remote Sensing For Autonomous Vehicles Using a Small Unmanned Aerial Vehicle", in Proc. of the Conf. on Field and Service Robotics (FSR), September 2017. [PDF] [video]

(C23) F. Naser, D. Dorhout, S. Proulx, S. D. Pendleton, H. Andersen, W. Schwarting, L. Paull, J. Alonso-Mora, M. H. Ang Jr., S. Karaman, R. Tedrake, J. Leonard, D. Rus, "A Parallel Autonomy Research Platform ", in Proc. of the IEEE Symposium on Intelligent Vehicles (IV), June 2017. [PDF] [video]

(C22) W. Schwarting, J. Alonso-Mora, L. Paull, S. Karaman, and D. Rus, "Parallel Autonomy in Automated Vehicles: Safe Motion Generation with Minimal Intervention", in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), June 2017. [PDF] [video]

(C21) L. Paull, J. Tani, H. Ahn, J. Alonso-Mora, L. Carlone, M. Cap, Y. F. Chen, C. Choi, J. Dusek, Y. Fang, D. Hoehener, S.-Y. Liu, M. Novitzky, I. F. Okuyama, J. Pazis, G. Rosman, V. Varricchio, H.-C. Wang, D. S. Yershov, H. Zhao, M. Benjamin, C. Carr, M. T. Zuber, S. Karaman, E. Frazzoli, D. Del Vecchio, D. Rus, J. P. How, J. J. Leonard, and A. Censi, "Duckietown: an Open, Inexpensive and Flexible Platform for Autonomy Education and Research", in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), June 2017. [PDF] [video] [web]

(C20) J. Alonso-Mora, E. Montijano, M. Schwager, D. Rus, "Distributed Multi-Robot Navigation in Formation among Obstacles: A Geometric and Optimization Approach with Consensus", in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (ICRA), May 2016. [PDF] [video]

(C19) T. Digumarti, J. Alonso-Mora, R. Siegwart, and P. Beardsley, "Pixelbots 2014", in Proc. ACM SIGGRAPH 2016 Art Gallery (SIGGRAPH '16), ACM, New York, NY, USA, 366-367, 2016. [PDF] [video]

(C18) J. Alonso-Mora, S. Baker, D. Rus, "Multi-robot navigation in formation via sequential convex programming", in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Sep 2015. [PDF] [video]

(C17) J. DeCastro, J. Alonso-Mora, V. Raman, D. Rus, H. Kress-Gezit, "Collision-Free Reactive Mission and Motion Planning for Multi-Robot Systems", in Proc. of the Int. Symposium on Robotics Research (ISRR), Sep 2015. [PDF] [video]

(C16) J. Alonso-Mora, R. Knepper, R. Siegwart, D. Rus, "Local motion planning for collaborative manipulation of deformable objects in dynamic environments", in Proc. of the IEEE Int. Conf. Robotics and Automation (ICRA), May 2015. [PDF] [video]

(C15) J. Alonso-Mora, S. Haegeli Lohaus, P. Leemann, R. Siegwart, P. Beardsley, "Gesture based human - robot swarm interaction applied to an interactive display", in Proc. of the IEEE Int. Conf. Robotics and Automation (ICRA), May 2015. [PDF] [video]

(C14) F. Schiano, J. Alonso-Mora, K. Rudin, P. Beardsley, R. Siegwart, B. Siciliano, "Towards Estimation and Correction of Wind Effects on a Quadrotor UAV", in Proc. of the Int. Micro Air Vehicle Conference and Competition, Aug. 2014. [PDF] [video]

(C13) D. Jud, J. Alonso-Mora, J. Rehder, R. Siegwart, P. Beardsley, "Customized Sensing for Robot Swarms", in Proc. of the Int. Symposium on Experimental Robotics, June. 2014. [PDF] [video]

(C12) J. Alonso-Mora, P. Gohl, S. Watson, R. Siegwart, P. Beardsley, "Shared Control of Autonomous Vehicles based on Velocity Space Optimization", in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), June 2014. [PDF]

(C11) M. Schoch, J. Alonso-Mora, R. Siegwart, P. Beardsley, "Viewpoint and Trajectory Optimization for Animation Display with a Large Group of Aerial Vehicles", in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), June 2014. [PDF] [video]

(C10) J. Alonso-Mora, R. Siegwart, P. Beardsley, "Human - Robot Swarm Interaction for Entertainment: From animation display to gesture based control", ACM/IEEE Int. Conf. on Human-Robot Interaction (HRI), Mar. 2014, Best Video Award 2nd Prize. [PDF] [video]

(C9) J. Bento, N. Derbinsky, J. Alonso-Mora, J. Yedidia, "A message-passing algorithm for multi-agent trajectory planning", In Advances in Neural Information Processing Systems (NIPS), Dec. 2013. [PDF] [appendix] [video]

(C8) M. Burri, L. Gasser, M. K. ch, M. Krebs, S. Laube, A. Ledergerber, D. Meier, R. Michaud, L. Mosimann, L. Muri, C. Ruch, A. Schaffner, N. Vuilliomenet, J. Weichart, K. Rudin, S. Leutenegger, J. Alonso-Mora, R. Siegwart, P. Beardsley, "Design and Control of a Spherical Omnidirectional Blimp", in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Nov. 2013. [PDF] [video]

(C7) J. Alonso-Mora, M. Rufli, R. Siegwart, P. Beardsley, "Collision Avoidance for Multiple Agents with Joint Utility Maximization", in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), May 2013. [PDF] [video]

(C6) J. Alonso-Mora, M. Schoch, A. Breitenmoser, R. Siegwart, P. Beardsley, "Object and Animation Display with Multiple Aerial Vehicles", in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Oct. 2012. [PDF] [video]

(C5) S. Hauri, J. Alonso-Mora, A. Breitenmoser, R. Siegwart, P. Beardsley, "Multi-Robot Formation Control via a Real-Time Drawing Interface", in Proc. of the 8th Int. Conf. on Field and Service Robots (FSR), Jul. 2012. [PDF] [video]

(C4) J. Alonso-Mora, A. Breitenmoser, P. Beardsley, R. Siegwart, "Reciprocal Collision Avoidance for Multiple Car-like Robots", in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), May 2012. [PDF] [video]

(C3) J. Alonso-Mora, A. Breitenmoser, M. Rufli, R. Siegwart, P. Beardsley, "Multi-Robot System for Artistic Pattern Formation", in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), May 2011. [PDF] [video]

(C2) A. Schoellig, J. Alonso-Mora, R. D'Andrea, "Independent vs. Joint Estimation in Multi-Agent Iterative Learning Control", in Proc. of the Conf. on Decision and Control (CDC), Dec. 2010 [PDF]

(C1) J. Alonso-Mora, A. Breitenmoser, M. Rufli, P. Beardsley, R. Siegwart, "Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots", in Proc. of the Int. Symp. on Distributed Autonomous Robotics Systems (DARS), Oct. 2010, Nominated Best Student Paper Award. [PDF] [video]

Workshops and technical reports

(W7) L. Knoedler, B. Brito, M. Everett, J.P. How, J. Alonso-Mora, "Learning a Guidance Policy from Humans for Social Navigation", in Social Robot Navigation: Advances and Evaluation at IEEE International Conference on Robotics and Automation (ICRA), May 2022. [PDF]

(W6) J. Alonso-Mora, K. Savla, D. Rus, "Optimal Control and Optimization Methods for Multi-robot Systems", in Tutorial on Multi-Robot Systems at Robotics Science and Systems (RSS), July. 2015. [PDF]

(W5) J. Alonso-Mora, R. Siegwart, D. Rus, "Collaborative Motion Planning for Multi-Agent Systems", in Workshop The future of multiple-robot research and its multiple identities at the RSJ/IEEE Int. Conf. on Robotics and Intelligent Systems (IROS), Sept. 2014.

(W4) R. Grieder, J. Alonso-Mora, C. Bloeglinger, R. Siegwart, P. Beardsley, "Multi-robot Control and Interaction with a Hand-held Tablet", in Workshop Crossing the Reality Gap: Control, Human Interaction and Cloud Technology for Multi- and Many- Robot Systems at the IEEE Int. Conf. on Robotics and Automation (ICRA), June 2014.

(W3) P. Gohl , J. Alonso-Mora, R. Siegwart, P. Beardsley, "Vision-Based Localization for Multiple Robots with Absolute and Relative Measurements", tech report, Sept. 2012. [PDF] [video]

(W2) J. Alonso-Mora, A. Breitenmoser, S. Wismer, R. Siegwart, P. Beardsley, "Human-Robot Shared Control in a Large Robot Swarm", in Workshop Many-Robot Systems: Crossing the Reality Gap at the IEEE Int. Conf. on Robotics and Automation (ICRA), May 2012.

(W1) J. Alonso-Mora, A. Breitenmoser, M. Rufli, S. Haag, G. Caprari, R. Siegwart, P. Beardsley, "DisplaySwarm: A robot swarm displaying images", in IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Symposium: Robot Demonstrations, Oct. 2011.

Thesis

(T4) J. Alonso-Mora, "Collaborative Motion Planning for Multi-Agent Systems", Doctoral Dissertation, ETH Zurich, Supervised: Prof. R. Siegwart, Dr. P. Beardsley, Co-examiners: Prof. R. D'Andrea, Prof. D. Rus, 2014.

(T3) J. Alonso-Mora, "Multi-agent control for choreographic image display", Master Thesis, Autonomous Sys- tems Lab, ETH & Disney Research Zurich, Supervised: Prof. R. Siegwart, Dr. P. Beardsley, 2010.

(T2) J. Alonso-Mora, "Multi-agent learning through experience", Semester Project, I. Dynamic Systems and Control, ETH Zurich. Supervisors: Prof. A. Schoellig, Prof. R. D'Andrea, 2009.

(T1) J. Alonso-Mora, "Study of Two Coupled Rigid Bodies", Semester Project, Chair of Geometric Analysis, EPF Lausanne. Supervisor: Prof. T. Ratiu, 2008.

Patents

(P7) "Compact omnidirectional vision sensor", US patent, 2014, led.

(P6) "Shared control of autonomous vehicles", US patent, 2014, led.

(P5) "Automated charging for aerial vehicles", US patent, 2014, led.

(P4) "Omnidirectional Spherical Blimp", International patent, 2012, led.

(P3) "Robotic Textures", US patent, 2012, led.

(P2) "Display with robotic pixels - divisorial", US patent, 2011, led.

(P1) "Display with robotic pixels", US patent 8723872.