Lars Blackmore

Books

"Robust Execution for Stochastic Hybrid Systems." L. Blackmore. VDM Publishing, 2008. ISBN 978-3-639-09800-6.

Journal Publications and Book Chapters

"A Probabilistic Particle Control Approximation of Chance Constrained Stochastic Predictive Control." L. Blackmore, M. Ono, A. Bektassov and B. C. Williams. Accepted for publication in IEEE Transactions on Robotics.

"Active Estimation for Jump Markov Linear Systems." L. Blackmore, S. Rajamanoharan and B. C. Williams. IEEE Transactions on Automatic Control, Nov 2008, Volume 53, Issue 10, pages 2223-2236.

" A Combined Stochastic and Greedy Hybrid Estimation Capability for Concurrent Hybrid Models with Autonomous Mode Transitions." L. Blackmore, S. Funiak and B. C. Williams. Journal of Robotics and Autonomous Systems 56 (2008) 105-129. A persistent link to this article is here.

"Robust, Optimal Predictive Control of Jump Markov Linear Systems using Particles." L. Blackmore, Askar Bektassov, Masahiro Ono and Brian C. Williams. In Hybrid Systems: Computation and Control, 2007 (Editors A. Bemporad, A. Bicchi and G. Buttazzo).

Conference Publications

"Convex Chance Constrained Predictive Control without Sampling. " L. Blackmore and M. Ono. In the proceedings of the AIAA Guidance, Navigation and Control Conference 2009.

"Necessary and Sufficient Conditions for Attitude Estimation in Fractionated Spacecraft Systems. " L. Blackmore and F. Y. Hadaegh. In the proceedings of the AIAA Guidance, Navigation and Control Conference 2009.

"Decomposition Algorithm for Global Reachability Analysis on a Time-Varying Graph with an Application to Planetary Exploration. " Y. Kuwata, L. Blackmore, M. Wolf, N. Fathpour, C. Newman and A. Elfes. In the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2009.

"Enhancements on the Convex Programming Based Powered Descent Guidance Algorithm for Mars Landing." Behcet Acikmese, Lars Blackmore, Daniel P. Scharf, and Aron Wolf. In the proceedings of the AIAA/AAS Astrodynamics Specialist Conference 2008.

"Robust Path Planning and Feedback Design under Stochastic Uncertainty." L. Blackmore. In the proceedings of the AIAA Guidance, Navigation and Control Conference 2008. Best Paper in Session.

"Model Learning for Switching Linear Systems with Autonomous Mode Transitions." L. Blackmore, S. Gil, S. Chung and B. C. Williams. In the proceedings of the Control and Decision Conference, 2007.

"Optimal, Robust Predictive Control of Nonlinear Systems under Probabilistic Uncertainty using Particles." L. Blackmore and Brian C. Williams. In the proceedings of the American Control Conference 2007.

“A Probabilistic Particle Control Approach to Optimal, Robust Predictive Control.” L. Blackmore. In the proceedings of the AIAA Guidance, Navigation and Control Conference 2006. Best Student Paper Award winner.

“Active Estimation for Switching Linear Dynamic Systems.” L. Blackmore, S. Rajamanoharan and B. C. Williams. In the proceedings of the Control and Decision Conference 2006.

“Finite Horizon Control Design for Optimal Discrimination between Several Models.” L. Blackmore and B. C. Williams. In the proceedings of the Control and Decision Conference 2006. Best Paper in Session.

“A Probabilistic Approach to Optimal Robust Path Planning with Obstacles.” L. Blackmore, H. Li and B. C. Williams. In the proceedings of the American Control Conference 2006.

“Optimal Manipulator Path Planning with Obstacles using Disjunctive Programming.” L. Blackmore and B. C. Williams. In the proceedings of the American Control Conference 2006.

“Finite Horizon Control Design for Optimal Model Discrimination.” L. Blackmore and B. C. Williams. In the proceedings of Control and Decision Conference 2005.

“Combining Stochastic and Greedy Search in Hybrid Estimation.” L. Blackmore, S. Funiak and B. C. Williams. In the proceedings of the 20th National Conference on Artificial Intelligence (AAAI) 2005.

Technical Reports

"Convex Chance Constrained Predictive Control without Sampling." JPL Document D-44784, 17th April 2008.

“Control and Estimation for Cooperative Manipulator Tasks.” L. Blackmore and S. Block. CSAIL Technical Report, MIT-CSAIL-TR-2006-011, 2006.

“A Combined Stochastic and Greedy Hybrid Estimation Capability for Concurrent Hybrid Models with Autonomous Mode Transitions.” L. Blackmore, S. Funiak and B. C. Williams. CSAIL Technical Report, 2006.

Academic Experience

Reviewer for IEEE Transactions on Automatic Control 2008

Reviewer for European Journal of Control 2008

Reviewer for the AIAA Journal for Guidance, Control and Dynamics 2007, 2008

Co-chair, fault detection session, Control and Decision Conference 2006

Reviewer for IEEE Transactions on Control System Technology, 2006

Co-chair, fault detection and accommodation session, Control and Decision Conference 2005

Teaching Assistant and lecturer, 16.412J Cognitive Robotics, MIT Spring 2006