See full list of publications and citations on my google scholar page.


Preprint

No. Authors Title Year Venue

[1] A. Li, M. Mukadam, M. Egerstedt, & B. Boots Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies
[arxiv][video]
2019 arXiv:1902.05177


Conference & Journal

No. Authors Title Year Venue

[14] K. Kolur, S. Chintalapudi, M. Mukadam, & B. Boots Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference
[pdf coming soon]
2019 International Conference on Intelligent Robots and Systems (IROS)
[13] A. Lambert, M. Mukadam, B. Sundaralingam, N. Ratliff, B. Boots, & D. Fox. Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing
[pdf][arxiv][video]
2019 International Conference on Robotics and Automation (ICRA)
[12] C. Cheng, M. Mukadam, J. Issac, S. Birchfield, D. Fox, B. Boots, & N. Ratliff RMPflow: A Computational Graph for Automatic Motion Policy Generation
[pdf][appendix][arxiv][video]
2018 International Workshop on the Algorithmic Foundations of Robotics (WAFR)
[11] M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, & B. Boots Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments
[pdf
][arxiv][video]
2018 International Conference on Intelligent Robots and Systems (IROS)
[10] M. Mukadam*, J. Dong*, F. Dellaert, & B. Boots

STEAP: Simultaneous Trajectory Estimation and Planning
(Invited submission from RSS 2017)
[pdf
][arxiv]
2018 Autonomous Robots (AuRo)
[9] M. Mukadam*, J. Dong*, X. Yan, F. Dellaert, & B. Boots
Continuous-Time Gaussian Process Motion Planning via Probabilistic Inference
(Winner of IJRR Paper of the Year)
[pdf][arxiv]
2018 International Journal of Robotics Research (IJRR)
[8] J. Dong, M. Mukadam, B. Boots, & F. Dellaert Sparse Gaussian Processes on Matrix Lie Groups: A Unified Framework for Optimizing Continuous-Time Trajectories
[pdf]
2018 International Conference on Robotics and Automation (ICRA)
[7] M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, & B. Boots Towards Robust Skill Generalization: Unifying Learning from Demonstration and Motion Planning
(Selected for plenary presentation: 8% acceptance rate)
[pdf
][video][talk][code]
2017 Conference on Robot Learning (CoRL)
[6] M. Mukadam, J. Dong,
F. Dellaert, & B. Boots
Simultaneous Trajectory Estimation and Planning via Probabilistic Inference
[pdf][code][video][slides]
2017 Robotics: Science and Systems (RSS)
[5] M. Mukadam, C. Cheng, X. Yan, & B. Boots Approximately Optimal Continuous-Time Motion Planning and Control via Probabilistic Inference
[pdf][arxiv][video]
2017 International Conference on Robotics and Automation (ICRA)
[4] E. Huang, M. Mukadam, Z. Liu, & B. Boots Motion Planning with Graph-Based Trajectories and Gaussian Process Inference
[pdf][video]
2017 International Conference on Robotics and Automation (ICRA)
[3] J. Dong, M. Mukadam,
F. Dellaert, & B. Boots
Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs
[pdf][code][video][talk]
2016 Robotics: Science and Systems (RSS)
[2] M. Mukadam, X. Yan, & B. Boots Gaussian Process Motion Planning
[pdf][video]
2016 International Conference on Robotics and Automation (ICRA)
[1] M. Mukadam, A. Borum, & T. Bretl
Quasi-static Manipulation of a Planar Elastic Rod using Multiple Robotic Grippers
[pdf][video]
2014 International Conference on Intelligent Robots and Systems (IROS)


Patent

No. Authors Title Year Venue

[1] M. Mukadam, A. Cosgun, A. N. Sarvedani, & K. Fujimura Autonomous Vehicle Policy Generation
[pdf]
2019 US Patent App. 16/103,847


Refereed Workshop

No. Authors Title Year Venue

[6] S. Bansal, M. Mukadam, & C. Isbell Interaction-Aware Planning via Nash Equilibria for Manipulation in a Shared Workspace
[pdf]
2019 ICRA Workshop on Human Movement Science for Physical Human-Robot Collaboration
[5] M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, & B. Boots
Robot Skill Learning from Demonstrations in Cluttered Environments
[pdf]
2018 RSS Workshop on Learning and Inference in Robotics: Integrating Structure, Priors and Models
[4] M. Mukadam, A. Cosgun, A. Nakhaei, & K. Fujimura Tactical Decision Making for Lane Changing with Deep Reinforcement Learning
[pdf]
2017 NIPS Workshop on Machine Learning for Intelligent Transportation Systems
[3] M. Mukadam, J. Dong, 
F. Dellaert, & B. Boots
STEAP: Towards Online Estimation and Replanning
[pdf]
2017 RSS Workshop on POMDPs in Robotics
[2] M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, & B. Boots
Towards Robust Skill Generalization: Unifying LfD and Motion Planning
[
pdf]
2017 RSS Workshop on Data-Driven Robotic Manipulation
[1] M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, & B. Boots
Skill Generalization via Inference-based Planning
[pdf]
2017 RSS Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction