Publications

Journal Papers

1. S. Singh, B. Landry, A. Majumdar, J.-J. E. Slotine and M. Pavone, “Robust Feedback Motion Planning via Contraction Theory,” Int. Journal of Robotics Research, 2019. Submitted.
   [BibTeX] [PDF] [CODE 1] [CODE 2] [VIDEOS]

   
   @article{SinghLandryEtAl2019,
   
     author = {Singh, S. and Landry, B. and Majumdar, A. and Slotine, J-J. E. and Pavone, M.},
   
     title = {Robust Feedback Motion Planning via Contraction Theory},
   
     journal = {Int. Journal of Robotics Research},
   
     year = {2019},
   
     note = {Submitted}
   
   }
   
   

2. S. Singh, S. M. Richards, V. Sindhwani, J.-J. E. Slotine and M. Pavone, “Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization,” Int. Journal of Robotics Research, 2019. Submitted.
   [BibTeX] [PDF] [CODE] [VIDEOS]

   
   @article{SinghRichardsEtAl2019,
   
     author = {Singh, S. and Richards, S. M. and Sindhwani, V. and Slotine, J-J. E. and Pavone, M.},
   
     title = {Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization},
   
     journal = {Int. Journal of Robotics Research},
   
     year = {2019},
   
     note = {Submitted}
   
   }
   
   

3. S. Singh, J. Lacotte, A. Majumdar and M. Pavone, “Risk-sensitive Inverse Reinforcement Learning via Semi- and Non-Parametric methods,” Int. Journal of Robotics Research, vol. 37, no. 13, pp. 1713-1740, 2018.
   [BibTeX] [PDF] [CODE]

   
   @article{SinghLacotteEtAl,
   
     author = {Singh, S. and Lacotte, J. and Majumdar, A. and Pavone, M.},
   
     title = {Risk-sensitive Inverse Reinforcement Learning via Semi- and Non-Parametric methods},
   
     journal = {Int. Journal of Robotics Research},
   
     year = {2018},
   
     volume = {37},
   
     number = {13},
   
     pages = {1713--1740}
   
   }
   
   

4. S. Singh, Y.-L. Chow, A. Majumdar and M. Pavone, “A Framework for Time-Consistent, Risk-Sensitive Model Predictive Control: Theory and Algorithms,” IEEE Transactions on Automatic Control, vol. 64, no. 7, pp. 2905-2912, 2017.
   [BibTeX] [PDF] [Extended Version]

   
   @article{ChowSinghEtAl2017,
   
     author = {Singh, S. and Chow, Y.-L. and Majumdar, A. and Pavone, M.},
   
     title = {A Framework for Time-Consistent, Risk-Sensitive Model Predictive Control: Theory and Algorithms},
   
     journal = {IEEE Transactions on Automatic Control},
   
     year = {2017},
   
     volume = {64},
   
     number = {7},
   
     pages = {2905--2912}
   
   }
   
   

Conference Papers

1. J. Lorenzetti, B. Landry, S. Singh and M. Pavone, “Reduced Order Model Predictive Control For Setpoint Tracking,” in European Control Conference, 2019. To Appear.
   [BibTeX] [PDF]

   
   @inproceedings{LorenzettiLandryEtAl2019,
   
     author = {Lorenzetti, J. and Landry, B. and Singh, S. and Pavone, M.},
   
     title = {Reduced Order Model Predictive Control For Setpoint Tracking},
   
     booktitle = {European Control Conference},
   
     year = {2019},
   
     note = {To Appear}
   
   }
   
   

2. S. Singh, M. Chen, S. L. Herbert, C. J. Tomlin and M. Pavone, “Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach,” in Workshop on Algorithmic Foundations of Robotics, 2018.
   [BibTeX] [PDF] [CODE]

   
   @inproceedings{SinghChenEtAl2018,
   
     author = {Singh, S. and Chen, M. and Herbert, S. L. and Tomlin, C. J. and Pavone, M.},
   
     title = {Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach},
   
     booktitle = {Workshop on Algorithmic Foundations of Robotics},
   
     year = {2018}
   
   }
   
   

3. S. Singh, V. Sindhwani, Slotine, J.-J. E. and M. Pavone, “Learning Stabilizable Dynamical Systems via Control Contraction Metrics,” in Workshop on Algorithmic Foundations of Robotics, 2018.
   [BibTeX] [PDF] [CODE]

   
   @inproceedings{SinghSindhwaniEtAl2018,
   
     author = {Singh, S. and Sindhwani, V. and Slotine, J.-J. E., and Pavone, M.},
   
     title = {Learning Stabilizable Dynamical Systems via Control Contraction Metrics},
   
     booktitle = {Workshop on Algorithmic Foundations of Robotics},
   
     year = {2018}
   
   }
   
   

4. Z. Wang, S. Singh, M. Pavone and M. Schwager, “Cooperative Object Transport in 3D with Multiple Quadrotors using No Peer Communication,” in Proc. IEEE Conf. on Robotics and Automation, 2018.
   [BibTeX] [PDF] [CODE]

   
   @inproceedings{WangSinghEtAl2018,
   
     author = {Wang, Z. and Singh, S. and Pavone, M. and Schwager, M.},
   
     title = {Cooperative Object Transport in 3D with Multiple Quadrotors using No Peer Communication},
   
     booktitle = {Proc. IEEE Conf. on Robotics and Automation},
   
     year = {2018}
   
   }
   
   

5. A. Majumdar, S. Singh, A. Mandlekar and M. Pavone, “Risk-sensitive inverse reinforcement learning via coherent risk models,” in Robotics: Science and Systems, 2017.
   [BibTeX] [PDF]

   
   @inproceedings{MajumdarSinghEtAl2017,
   
     author = {Majumdar, A. and Singh, S. and Mandlekar, A. and Pavone, M.},
   
     title = {Risk-sensitive inverse reinforcement learning via coherent risk models},
   
     booktitle = {Robotics: Science and Systems},
   
     year = {2017}
   
   }
   
   

6. S. Singh, A. Majumdar, J.-J. Slotine and M. Pavone, “Robust Online Motion Planning via Contraction Theory and Convex Optimization,” in Proc. IEEE Conf. on Robotics and Automation, 2017.
   [BibTeX] [PDF] [CODE]

   
   @inproceedings{SinghMajumdarEtAl2017,
   
     author = {Singh, S. and Majumdar, A. and Slotine, J.-J. and Pavone, M.},
   
     title = {Robust Online Motion Planning via Contraction Theory and Convex Optimization},
   
     booktitle = {Proc. IEEE Conf. on Robotics and Automation},
   
     year = {2017}
   
   }
   
   

7. S. Singh, S.. D'Amico and M. Pavone, “High-Fidelity Modeling and Control System Synthesis for a Drag-Free Microsatellite,” in Int. Symp. on Space Flight Dynamics, October 2015.
   [BibTeX] [PDF]

   
   @inproceedings{SinghDAmicoEtAl2015,
   
     author = {Singh, S. and D'Amico, S.. and Pavone, M.},
   
     title = {High-Fidelity Modeling and Control System Synthesis for a Drag-Free Microsatellite},
   
     booktitle = {Int. Symp. on Space Flight Dynamics},
   
     year = {2015}
   
   }
   
   

8. S. Singh, E. Schmerling and M. Pavone, “Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks - A Contraction Theory Approach,” in Proc. IEEE Conf. on Robotics and Automation, May 2015.
   [BibTeX] [PDF] [Extended Version]

   
   @inproceedings{SinghSchmerlingEtAl2015,
   
     author = {Singh, S. and Schmerling, E. and Pavone, M.},
   
     title = {Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks - A Contraction Theory Approach},
   
     booktitle = {Proc. IEEE Conf. on Robotics and Automation},
   
     year = {2015},
   
     doi = {http://doi.org/10.1109/ICRA.2015.7139355}
   
   }