Publications

 

         Preprints

PAC-Bayes Control: Learning Policies that Provably Generalize to Novel Environments [ArXiv] [code]

Anirudha Majumdar, Alec Farid, and Anoopkumar Sonar

Under Review.

Extended version of CoRL 2018 paper.

 

Robust Feedback Motion Planning via Contraction Theory [.pdf] [code]

Sumeet Singh, Benoit Landry, Anirudha Majumdar, Jean-Jacques Slotine, and Marco Pavone 

Under Review.

 

 

A Survey of Recent Scalability Improvements for Semidefinite Programming with Applications in Machine Learning, Control, and Robotics [ArXiv] 

Anirudha Majumdar, Georgina Hall, and Amir Ali Ahmadi

Annual Review of Control, Robotics, and Autonomous Systems (accepted).

 

         Refereed conference and journal papers

[22] Task-Driven Estimation and Control via Information Bottlenecks [ArXiv]

Vincent Pacelli and Anirudha Majumdar

Proceedings of the International Conference on Robotics and Automation (ICRA), 2019.

 

[21] PAC-Bayes Control: Synthesizing Controllers that Provably Generalize to Novel Environments [pdf] [code] [talk video] 

Anirudha Majumdar and Maxwell Goldstein

Proceedings of the Conference on Robot Learning (CoRL), 2018.

 

[20] DSOS and SDSOS Optimization: More Tractable Alternatives to Sum of Squares and Semidefinite Optimization [ArXiv]

Amir Ali Ahmadi and Anirudha Majumdar

SIAM Journal on Applied Algebra and Geometry (SIAGA), 2019.

 

 

[19] A Framework for Time-Consistent, Risk-Sensitive Model Predictive Control: Theory and Algorithms [ArXiv]

Yin-Lam Chow, Sumeet Singh, Anirudha Majumdar, and Marco Pavone

IEEE Transactions on Automatic Control (TAC), 2018.

[18] Risk-sensitive Inverse Reinforcement Learning via Semi- and Non-Parametric Methods [ArXiv]

Sumeet Singh, Jonathan Lacotte, Anirudha Majumdar, and Marco Pavone

International Journal of Robotics Research (IJRR), 2018.

 

[17] How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics [.pdf]

Anirudha Majumdar and Marco Pavone

Proceedings of the International Symposium on Robotics Research (ISRR), 2017.

 

[16] Risk-sensitive Inverse Reinforcement Learning via Coherent Risk Models [.pdf]

Anirudha Majumdar, Sumeet Singh, Ajay Mandlekar, and Marco Pavone

Proceedings of Robotics: Science and Systems (RSS), 2017.

[15] Funnel Libraries for Real-Time Robust Feedback Motion Planning [.pdf]

Anirudha Majumdar and Russ Tedrake

International Journal of Robotics Research, 36(8):947:982, July 2017.

Winner of the inaugural IJRR Paper of the Year Award (2017).

[14] Robust Online Motion Planning via Contraction Theory and Convex Optimization [.pdf]

Sumeet Singh, Anirudha Majumdar, Jean-Jacques Slotine, and Marco Pavone

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.

[13] Synthesis and Optimization of Force Closure Grasps via Sequential Semidefinite Programming [.pdf]

Hongkai Dai, Anirudha Majumdar, and Russ Tedrake

Proceedings of the International Symposium on Robotics Research (ISRR), 2015.

[12] Some Applications of Polynomial Optimization in Operations Research and Real-Time Decision Making [.pdf]

Amir Ali Ahmadi and Anirudha Majumdar

Optimization Letters, 2015.

[11] Control and Verification of High-Dimensional Systems with DSOS and SDSOS Programming [.pdf]

Anirudha Majumdar, Amir Ali Ahmadi, and Russ Tedrake

Proceedings of the 2014 Conference on Decision and Control (CDC), 2014.

[10] DSOS and SDSOS Optimization: LP and SOCP-Based Alternatives to Sum of Squares Optimization [.pdf]

Amir Ali Ahmadi and Anirudha Majumdar

Proceedings of the Conference on Information Sciences and Systems (CISS), 2014. (Invited Paper)

[9] Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures [.pdf]

Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, and Russ Tedrake

International Journal of Robotics Research (IJRR), 33(9):1209:1230, August 2014.

[8] Flying between Obstacles with an Autonomous Knife-edge Maneuver [.pdf]

Andrew J. Barry, Tim Jenks, Anirudha Majumdar, Huai-Ti Lin, Ivo G. Ros, Andrew Biewener, and Russ Tedrake

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Video Submission, 2014.

[7] Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures [.pdf]

Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin, and Russ Tedrake

Proceedings of Robotics: Science and Systems (RSS), 2013.

[6] Control Design Along Trajectories with Sums of Squares Programming [.pdf]

Anirudha Majumdar, Amir Ali Ahmadi, and Russ Tedrake

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013.

Winner of the Best Conference Paper Award.

[5] Complexity of Ten Decision Problems in Continuous Time Dynamical Systems [.pdf]

Amir Ali Ahmadi, Anirudha Majumdar, and Russ Tedrake

Proceedings of the 2013 American Control Conference (ACC), 2013.

[4] Robust Online Motion Planning with Regions of Finite Time Invariance [.pdf]

Anirudha Majumdar and Russ Tedrake

Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR), 2012.

[3] Algebraic Verification for Parameterized Motion Planning Libraries [.pdf]

Anirudha Majumdar, Mark M. Tobenkin, and Russ Tedrake

Proceedings of the American Control Conference (ACC), 2012.

[2] Safety Verification of Reactive Controllers for UAV Flight in Cluttered Environments Using Barrier Certificates [.pdf]

Andrew  J. Barry, Anirudha Majumdar, and Russ Tedrake

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012.

barrier functions
, we search for global certificates of safety
for the closed-loop system in a given environment.

[1] Characterization of Dynamic Behaviors in a Hexapod Robot [.pdf]

Haldun Komsuoglu, Anirudha Majumdar, Yasemin O. Aydin, and Daniel E. Koditschek

Proceedings of the International Symposium on Experimental Robotics (ISER), 2010.

 

This paper investigates the relationship between energetic effi-
ciency and the dynamical structure of a legged robot’s gait.

 Theses

 

Funnel Libraries for Real-Time Robust Feedback Motion Planning [.pdf]

Anirudha Majumdar

Ph.D. thesis, Massachusetts Institute of Technology, June 2016.