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ORCIDBrett Thomas Lopez
Brett T. Lopez
Person information
- affiliation: University of California, Los Angeles (UCLA), Verifiable and Control-Theoretic Robotics Laboratory (VECTR Laboratory), Department of Mechanical and Aerospace Engineering, CA, USA
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2020 – today
- 2025
[c21]Zihao Dong, Jeff Pflueger, Leonard Jung, David Thorne, Philip R. Osteen, Christa S. Robison, Brett Thomas Lopez, Michael Everett:
LiDAR Inertial Odometry and Mapping Using Learned Registration-Relevant Features. ICRA 2025: 359-366- [c20]David Thorne, Nathan Chan, Yanlong Ma, Christa S. Robison, Philip R. Osteen, Brett T. Lopez:
Submodular Optimization for Keyframe Selection & Usage in SLAM. ICRA 2025: 5033-5039 - [i35]Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Sung-Kyun Kim, Muhammad Fadhil Ginting, Xianmei Lei, Jeffrey A. Edlund, Seyed Abolfazl Fakoorian, Amanda Bouman, Fernando Chavez, Taeyeon Kim, Gustavo J. Correa, Maira Saboia, Angel Santamaria-Navarro, Brett T. Lopez, Boseong Kim, Chanyoung Jung, Mamoru Sobue, Oriana Peltzer, Joshua Ott, Robert Trybula, Thomas Touma, Marcel Kaufmann, Tiago Stegun Vaquero, Torkom Pailevanian, Matteo Palieri, Yun Chang, Andrzej Reinke, Matthew Anderson, Frederik Schöller, Patrick Spieler, Lillian Clark, Avak Archanian, Kenny Chen, Hovhannes Melikyan, Anushri Dixit, Harrison Delecki, Daniel Pastor, Barry Ridge, Nicolas Marchal, Jose Uribe, Sharmita Dey, Kamak Ebadi, Kyle Coble, Alexander Nikitas Dimopoulos, Vivek Thangavelu, Vivek Shankar Varadharajan, Nicholas Palomo, Antoni Rosinol, Arghya Chatterjee, Christoforos Kanellakis, Björn Lindqvist, Micah Corah, Kyle Strickland, Ryan Stonebraker
, Michael Milano, Christopher E. Denniston, Sami Sahnoune, Thomas Claudet, Seungwook Lee, Gautam Salhotra, Edward Terry, Rithvik Musuku, Robin Schmid, Tony Tran, Ara Kourchians, Justin Schachter, Héctor Azpúrua, Levi Resende, Arash Kalantari, Jeremy Nash, Josh Lee, Christopher Patterson, Jennifer G. Blank, Kartik Patath, Yuki Kubo, Ryan Alimo, Yasin Almalioglu, Aaron Curtis, Jacqueline H. Sly, Tesla Wells, Nhut T. Ho, Mykel J. Kochenderfer, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick:
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments. CoRR abs/2504.13461 (2025) - [i34]Samuel G. Gessow, James Tseng, Eden Zafran, Brett T. Lopez:
Two-Impulse Trajectory Design in Two-Body Systems With Riemannian Geometry. CoRR abs/2508.11612 (2025) - [i33]Samuel G. Gessow, Brett T. Lopez:
Analysis of the Geometric Heat Flow Equation: Computing Geodesics in Real-Time with Convergence Guarantees. CoRR abs/2510.11692 (2025) - [i32]Helene J. Levy, Brett T. Lopez:
STITCHER: Constrained Trajectory Planning in Complex Environments with Real-Time Motion Primitive Search. CoRR abs/2510.14893 (2025) - 2024
- [j9]Brett T. Lopez, Jean-Jacques E. Slotine:
Dynamic Adaptation Gains for Nonlinear Systems With Unmatched Uncertainties. IEEE Control. Syst. Lett. 8: 31-36 (2024) - [j8]Samuel G. Gessow, David Thorne, Brett T. Lopez:
Information Control Barrier Functions: Preventing Localization Failures in Mobile Systems Through Control. IEEE Control. Syst. Lett. 8: 3003-3008 (2024) - [i31]Zihao Dong, Jeff Pflueger, Leonard Jung, David Thorne, Philip R. Osteen, Christa S. Robison, Brett T. Lopez, Michael Everett:
LiDAR Inertial Odometry And Mapping Using Learned Registration-Relevant Features. CoRR abs/2410.02961 (2024) - [i30]David Thorne, Nathan Chan, Yanlong Ma, Christa S. Robison, Philip R. Osteen, Brett T. Lopez:
Submodular Optimization for Keyframe Selection & Usage in SLAM. CoRR abs/2410.05576 (2024) - [i29]Samuel G. Gessow, David Thorne, Brett T. Lopez:
Information Control Barrier Functions: Preventing Localization Failures in Mobile Systems Through Control. CoRR abs/2411.16999 (2024) - [i28]Brett T. Lopez, Jean-Jacques E. Slotine:
Quaternion Sliding Variables in Manipulator Control. CoRR abs/2412.18921 (2024) - [i27]Helene J. Levy, Brett T. Lopez:
STITCHER: Real-Time Trajectory Planning with Motion Primitive Search. CoRR abs/2412.21180 (2024) - 2023
- [c19]Brett T. Lopez, Jean-Jacques E. Slotine:
Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety. ACC 2023: 3662-3668 - [c18]Samuel G. Gessow, Brett T. Lopez:
Adaptive Robust Control Contraction Metrics: Transient Bounds in Adaptive Control with Unmatched Uncertainties. CDC 2023: 3541-3546 - [c17]Kenny Chen, Ryan Nemiroff, Brett T. Lopez:
Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction. ICRA 2023: 3983-3989 - [c16]Ryan Nemiroff, Kenny Chen, Brett T. Lopez:
Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping. IROS 2023: 1388-1394 - [i26]Amanda Bouman, Joshua Ott, Sung-Kyun Kim, Kenny Chen, Mykel J. Kochenderfer, Brett T. Lopez, Ali-akbar Agha-mohammadi, Joel Burdick:
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments. CoRR abs/2302.03164 (2023) - [i25]Brett T. Lopez:
A Contracting Hierarchical Observer for Pose-Inertial Fusion. CoRR abs/2303.02777 (2023) - [i24]Ryan Nemiroff, Kenny Chen, Brett T. Lopez:
Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation. CoRR abs/2303.03505 (2023) - [i23]Kenny Chen, Ryan Nemiroff, Brett T. Lopez:
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM. CoRR abs/2305.01843 (2023) - [i22]David Thorne, Brett T. Lopez:
Multi-Robot Task Assignment and Path Finding for Time-Sensitive Missions with Online Task Generation. CoRR abs/2310.06153 (2023) - [i21]Samuel G. Gessow, Brett T. Lopez:
Adaptive Robust Control Contraction Metrics: Transient Bounds in Adaptive Control with Unmatched Uncertainties. CoRR abs/2310.13655 (2023) - [i20]Brett T. Lopez, Jean-Jacques E. Slotine:
Dynamic Adaptation Gains for Nonlinear Systems with Unmatched Uncertainties. CoRR abs/2311.05082 (2023) - 2022
- [j7]Brett T. Lopez, Jean-Jacques E. Slotine:
Universal Adaptive Control of Nonlinear Systems. IEEE Control. Syst. Lett. 6: 1826-1830 (2022) - [j6]Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hovhannes Melikyan, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick:
NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. Field Robotics 2(1): 1432-1506 (2022) - [j5]Kenny Chen, Brett T. Lopez, Ali-akbar Agha-mohammadi, Ankur Mehta:
Direct LiDAR Odometry: Fast Localization With Dense Point Clouds. IEEE Robotics Autom. Lett. 7(2): 2000-2007 (2022) - [j4]Jesus Tordesillas, Brett T. Lopez, Michael Everett, Jonathan P. How:
FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments. IEEE Trans. Robotics 38(2): 922-938 (2022) - [c15]Amanda Bouman, Joshua Ott, Sung-Kyun Kim, Kenny Chen, Mykel J. Kochenderfer, Brett T. Lopez, Ali-akbar Agha-mohammadi, Joel Burdick:
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments. IROS 2022: 11916-11923 - [c14]Brett T. Lopez, Jean-Jacques E. Slotine:
Adaptive Variants of Optimal Feedback Policies. L4DC 2022: 1125-1136 - [i19]Kenny Chen, Ryan Nemiroff, Brett T. Lopez:
Direct LiDAR-Inertial Odometry. CoRR abs/2203.03749 (2022) - [i18]Brett T. Lopez, Jean-Jacques E. Slotine:
Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety. CoRR abs/2207.13873 (2022) - 2021
- [j3]Brett T. Lopez, Jean-Jacques E. Slotine:
Adaptive Nonlinear Control With Contraction Metrics. IEEE Control. Syst. Lett. 5(1): 205-210 (2021) - [j2]Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How:
Robust Adaptive Control Barrier Functions: An Adaptive and Data-Driven Approach to Safety. IEEE Control. Syst. Lett. 5(3): 1031-1036 (2021) - [j1]Seyed Abolfazl Fakoorian, Angel Santamaria-Navarro, Brett Thomas Lopez, Dan Simon, Ali-akbar Agha-mohammadi:
Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter With Adaptive Behaviors. IEEE Robotics Autom. Lett. 6(3): 5469-5476 (2021) - [c13]Sumeet Singh, Hiroyasu Tsukamoto, Brett T. Lopez, Soon-Jo Chung, Jean-Jacques E. Slotine:
Safe Motion Planning with Tubes and Contraction Metrics. CDC 2021: 2943-2948 - [c12]Brett T. Lopez, Jean-Jacques E. Slotine:
Sliding on Manifolds: Geometric Attitude Control with Quaternions. ICRA 2021: 11140-11146 - [c11]Kenny Chen, Alexandra Pogue, Brett T. Lopez, Ali-Akbar Agha-Mohammadi, Ankur Mehta:
Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints. IROS 2021: 2451-2458 - [i17]Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick:
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. CoRR abs/2103.11470 (2021) - [i16]Seyed Abolfazl Fakoorian, Angel Santamaria-Navarro, Brett T. Lopez, Dan Simon, Ali-akbar Agha-mohammadi:
Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors. CoRR abs/2103.15354 (2021) - [i15]Brett T. Lopez, Jean-Jacques E. Slotine:
Adaptive Variants of Optimal Feedback Policies. CoRR abs/2104.02709 (2021) - [i14]Kenny Chen, Brett T. Lopez, Ali-akbar Agha-mohammadi, Ankur Mehta:
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds. CoRR abs/2110.00605 (2021) - 2020
- [c10]Aleix Paris, Brett T. Lopez, Jonathan P. How:
Dynamic Landing of an Autonomous Quadrotor on a Moving Platform in Turbulent Wind Conditions. ICRA 2020: 9577-9583 - [i13]Jesus Tordesillas, Brett T. Lopez, Michael Everett, Jonathan P. How:
FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments. CoRR abs/2001.04420 (2020) - [i12]Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How:
Adaptive Safety for Uncertain Nonlinear Systems with Control Barrier Functions and Contraction Metrics. CoRR abs/2003.10028 (2020) - [i11]Kenny Chen, Alexandra Pogue, Brett T. Lopez, Ali-akbar Agha-mohammadi, Ankur Mehta:
Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints. CoRR abs/2011.01354 (2020) - [i10]Brett T. Lopez, Jean-Jacques E. Slotine:
Sliding on Manifolds: Geometric Attitude Control with Quaternions. CoRR abs/2011.03648 (2020) - [i9]Savva Morozov, Parker C. Lusk, Brett T. Lopez, Jonathan P. How:
Performance Analysis of Adaptive Dynamic Tube MPC. CoRR abs/2012.12403 (2020) - [i8]Brett T. Lopez, Jean-Jacques E. Slotine:
Universal Adaptive Control for Uncertain Nonlinear Systems. CoRR abs/2012.15815 (2020)
2010 – 2019
- 2019
- [c9]Brett T. Lopez, Jonathan P. How, Jean-Jacques E. Slotine:
Dynamic Tube MPC for Nonlinear Systems. ACC 2019: 1655-1662 - [c8]Jesus Tordesillas, Brett T. Lopez, John Carter, John Ware, Jonathan P. How:
Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments. ICRA 2019: 725-731 - [c7]Jesus Tordesillas, Brett T. Lopez, Jonathan P. How:
FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments. IROS 2019: 1934-1940 - [i7]Jesus Tordesillas, Brett T. Lopez, Jonathan P. How:
FaSTraP: Fast and Safe Trajectory Planner for Flights in Unknown Environments. CoRR abs/1903.03558 (2019) - [i6]Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How:
Dynamic Tube MPC for Nonlinear Systems. CoRR abs/1907.06553 (2019) - [i5]Aleix Paris, Brett T. Lopez, Jonathan P. How:
Dynamic Landing of an Autonomous Quadrotor on a Moving Platform in Turbulent Wind Conditions. CoRR abs/1909.11071 (2019) - [i4]Brett T. Lopez, Jean-Jacques E. Slotine:
Contraction Metrics in Adaptive Nonlinear Control. CoRR abs/1912.13138 (2019) - 2018
- [c6]Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How:
Robust Powered Descent with Control Contraction Metrics. CDC 2018: 3483-3490 - [c5]Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How:
Robust Collision Avoidance via Sliding Control. ICRA 2018: 2962-2969 - [i3]Jesus Tordesillas, Brett T. Lopez, John Carter, John Ware, Jonathan P. How:
Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments. CoRR abs/1810.01035 (2018) - 2017
- [c4]Shayegan Omidshafiei, Shih-Yuan Liu, Michael Everett, Brett T. Lopez, Christopher Amato, Miao Liu, Jonathan P. How, John Vian:
Semantic-level decentralized multi-robot decision-making using probabilistic macro-observations. ICRA 2017: 871-878 - [c3]Brett T. Lopez, Jonathan P. How:
Aggressive 3-D collision avoidance for high-speed navigation. ICRA 2017: 5759-5765 - [c2]Brett T. Lopez, Jonathan P. How:
Aggressive collision avoidance with limited field-of-view sensing. IROS 2017: 1358-1365 - [i2]Shayegan Omidshafiei, Shih-Yuan Liu, Michael Everett, Brett T. Lopez, Christopher Amato, Miao Liu, Jonathan P. How, John Vian:
Semantic-level Decentralized Multi-Robot Decision-Making using Probabilistic Macro-Observations. CoRR abs/1703.05623 (2017) - 2016
- [i1]Shayegan Omidshafiei, Brett T. Lopez, Jonathan P. How, John Vian:
Hierarchical Bayesian Noise Inference for Robust Real-time Probabilistic Object Classification. CoRR abs/1605.01042 (2016) - 2015
- [c1]N. Kemal Ure, Shayegan Omidshafiei, Brett Thomas Lopez, Ali-akbar Agha-mohammadi, Jonathan P. How, John Vian:
Online heterogeneous multiagent learning under limited communication with applications to forest fire management. IROS 2015: 5181-5188
Coauthor Index
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