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

Preprint

Differentiable Gaussian Process Motion Planning
Mohak Bhardwaj, Byron Boots, & Mustafa Mukadam
arXiv:1907.09591

2019

Structured Learning and Inference for Robot Motion Generation
Mustafa Mukadam
Ph.D. Dissertation, Georgia Institute of Technology, 2019
[pdf]

Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies
Anqi Li, Mustafa Mukadam, Magnus Egerstedt, & Byron Boots
International Symposium on Robotics Research (ISRR), 2019
[pdf coming soon][arxiv][video]

Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference
Keshav Kolur*, Sahit Chintalapudi*, Byron Boots, & Mustafa Mukadam
International Conference on Intelligent Robots and Systems (IROS), 2019

Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing
Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan Ratliff, Byron Boots, & Dieter Fox.
International Conference on Robotics and Automation (ICRA), 2019

2018

RMPflow: A Computational Graph for Automatic Motion Policy Generation
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, & Nathan Ratliff
International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018

Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments
Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, & Byron Boots
International Conference on Intelligent Robots and Systems (IROS), 2018

STEAP: Simultaneous Trajectory Estimation and Planning
Mustafa Mukadam*, Jing Dong*, Frank Dellaert, & Byron Boots
Autonomous Robots (AuRo), 2018
Invited Paper from RSS 2017

Continuous-Time Gaussian Process Motion Planning via Probabilistic Inference
Mustafa Mukadam*, Jing Dong*, Xinyan Yan, Frank Dellaert, & Byron Boots
International Journal of Robotics Research (IJRR), 2018
Winner of IJRR Paper of the Year Award

Sparse Gaussian Processes on Matrix Lie Groups: A Unified Framework for Optimizing Continuous-Time Trajectories
Jing Dong, Mustafa Mukadam, Byron Boots, & Frank Dellaert
International Conference on Robotics and Automation (ICRA), 2018
[pdf]

2017

Towards Robust Skill Generalization: Unifying Learning from Demonstration and Motion Planning
Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, & Byron Boots
Conference on Robot Learning (CoRL), 2017
Long Talk, 8% Acceptance Rate

Simultaneous Trajectory Estimation and Planning via Probabilistic Inference
Mustafa Mukadam, Jing Dong, Frank Dellaert, & Byron Boots
Robotics: Science and Systems (RSS), 2017

Approximately Optimal Continuous-Time Motion Planning and Control via Probabilistic Inference
Mustafa Mukadam, Ching-An Cheng, Xinyan Yan, & Byron Boots
International Conference on Robotics and Automation (ICRA), 2017

Motion Planning with Graph-Based Trajectories and Gaussian Process Inference
Eric Huang, Mustafa Mukadam, Zhen Liu, & Byron Boots
International Conference on Robotics and Automation (ICRA), 2017

2016

Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs
Jing Dong, Mustafa Mukadam, Frank Dellaert, & Byron Boots
Robotics: Science and Systems (RSS), 2016

Gaussian Process Motion Planning
Mustafa Mukadam, Xinyan Yan, & Byron Boots
International Conference on Robotics and Automation (ICRA), 2016

2014

Quasi-static Manipulation of a Planar Elastic Rod using Multiple Robotic Grippers
Mustafa Mukadam, Andy Borum, & Timothy Bretl
International Conference on Intelligent Robots and Systems (IROS), 2014

Patent

Autonomous Vehicle Policy Generation
Mustafa Mukadam, Akansel Cosgun, Alireza Nakhaei, & Kikuo Fujimura
US Patent App. 16/103,847, 2019
[pdf]

Refereed Workshop

Interaction-Aware Planning via Nash Equilibria for Manipulation in a Shared Workspace
Shray Bansal, Mustafa Mukadam, & Charles Isbell
ICRA Workshop on Human Movement Science for Physical Human-Robot Collaboration, 2019
[pdf]

Robot Skill Learning from Demonstrations in Cluttered Environments
Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, & Byron Boots
RSS Workshop on Learning and Inference in Robotics: Integrating Structure, Priors and Models, 2018
[pdf]

Tactical Decision Making for Lane Changing with Deep Reinforcement Learning
Mustafa Mukadam, Akansel Cosgun, Alireza Nakhaei, & Kikuo Fujimura
NIPS Workshop on Machine Learning for Intelligent Transportation Systems, 2017
[pdf]

STEAP: Towards Online Estimation and Replanning
Mustafa Mukadam, Jing Dong, Frank Dellaert, & Byron Boots
RSS Workshop on POMDPs in Robotics, 2017
[pdf]

Towards Robust Skill Generalization: Unifying LfD and Motion Planning
Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, & Byron Boots
RSS Workshop on Data-Driven Robotic Manipulation, 2017
[pdf]

Skill Generalization via Inference-based Planning
Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, & Byron Boots
RSS Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction, 2017
[pdf]