Dr. Javier Alonso-Mora, Assistant Professor

Autonomous Multi-Robots Lab. Delft University of Technology

Home | Research | Team | Publications | Teaching | Videos and Media | Bio & Contact |

A complete list of my publications is available in my Google Scholar profile.

Journals

(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]

(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]

(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

(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

(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.