Kobilarov, Marin

Assistant Professor
Department Of Mechanical Engineering
http://ascol.lcsr.jhu.edu/

Hackerman Hall 117
3400 N Charles St
mkobila1@jhu.edu

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About

Education
  • Ph.D. 2008, University of Southern California
  • Other Bachelor's Degree (B.Sc.) 2003, Trinity College
Experience
  • August 01, 2008 - June 01, 2012:  Postdoctoral Fellow, California Institute of Technology
  • September 01, 2003 - July 01, 2008:  Research Assistant, University of Southern California
  • May 01, 2004 - December 01, 2004:  Robotics Engineer (part-time), NASA Jet Propulsion Lab
Research Areas
Awards
  • 2011:  Best Paper Finalist Award
  • 2009:  KECK Post-doctoral Fellowship
  • 2009:  UTRC-Caltech Post-doctoral Award
  • 2006:  ACM Programming Contest, California Regionals, 2nd place, as a USC Team coach
  • 2003:  Phi Betta Kappa
  • 2000:  Fire-fighting Home Robot Contest, 2-nd place (out of 50+ teams)
  • 1999:  ACM Programming Contest, regional finalist
Presentations
  • Foundations of Computational Mathematics (FoCM).  Montevideo.  December 16, 2014
  • JHU Water Institute Meeting.  December 08, 2014
  • Systems and Control Seminar.  October 10, 2014
  • JHU ECE Department Seminar.  October 1, 2014
  • European Nonlinear Dynamics Conference.  Vienna.  July 07, 2014
  • Workshop on Aerial Robots Physically Interacting with the Environment.  June 19, 2014

Publications

Journal Articles
  • Demoures, F., Gay-Balmaz, F., Kobilarov, M., Ratiu, T. S. (2014).  Multisymplectic Lie group variational integrator for a geometrically exact beam in .  Communications in Nonlinear Science and Numerical Simulation .  19(10).  3492 - 3512.
  • Kobilarov, M. (2014).  Nonlinear Trajectory Control of Multi-body Aerial Manipulators.  Journal of Intelligent & Robotic Systems.  73(1-4).  679–692.
  • Kobilarov, M. (2012).  Cross-entropy Motion Planning.  International Journal of Robotics Research.  31(7).  855–871.
  • Jimenez, F., Kobilarov, M., Martin de Diego, David. (2012).  Discrete Variational Optimal Control.  Journal of Nonlinear Science.  1-34.
  • Flaßkamp, K., Ober-Blöbaum, S., Kobilarov, M. (2012).  Solving Optimal Control Problems by Exploiting Inherent Dynamical Systems Structures.  Journal of Nonlinear Science.
  • Kobilarov, M., Pellegrino, S. (2012).  Trajectory Planning for Cubesat Short Time-Scale Proximity Operations.
  • Kobilarov, M., Marsden, J. (2011).  Discrete Geometric Optimal Control on Lie Groups.  IEEE Transactions on Robotics.  27(4).  641-655.
  • Kobilarov, M., Marsden, J. E., Sukhatme, G. S. (2011).  Global Estimation in Constrained Environments.  The International Journal of Robotics Research.  31(1).  24–41.
  • Banaszuk, A., Fonoberov, V., Frewen, T. A., Kobilarov, M., Mathew, G., I. Mezic, A. P., Sahai, T., Sane, H., Speranzon, A., Surana, A. (2011).  Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems.  accepted, to appear in IFAC Annual Reviews in Control.
  • Kobilarov, M., Marsden, J. (2011).  Discrete Geometric Optimal Control on Lie Groups.  Robotics, IEEE Transactions on.  27(4).  641-655.
  • Kobilarov, M., Marsden, J. E., Sukhatme, G. S. (2010).  Geometric discretization of nonholonomic systems with symmetries.  AIMS Journal on Discrete and Continuous Dynamical Systems - Series S (DCDS-S).  3(1).  61 - 84.
  • Kobilarov, M., Martín de Diego, D., Ferraro, S. (2010).  Simulating Nonholonomic Dynamics.  Boletin de la Sociedad Espanola de Matimatica Aplicada (SeMA).  50.  61-81.
  • Kobilarov, M., Crane, K., Desbrun, M. (2009).  Lie group integrators for animation and control of vehicles.  ACM Trans. Graph..  28(2).  1–14.
Book Chapters
  • Kobilarov, M. (2013).  Solvability of Geometric Integrators for Multi-body Systems.  Multibody Dynamics: Computational Methods and Applications.
Other Publications
  • Garimella, G., Kobilarov, M. (2015).  Towards Model-predictive Control for Aerial Pick-and-Place.
Conference Proceedings
  • Ta, D., Kobilarov, M., Dellaert, F. (2014).  A factor graph approach to estimation and model predictive control on Unmanned Aerial Vehicles.  Unmanned Aircraft Systems (ICUAS), 2014 International Conference on.  181-188.
  • Mishra, S., Kobilarov, M. (2014).  An Autonomous Proximity Navigation Testbed for Nanosatellites.  Small Satellite Conference.
  • Kobilarov, M. (2014).  Discrete optimal control on Lie groups and applications to robotic vehicles.  IEEE International Conference on Robotics and Automation.  5523-5529.
  • Chirikjian, G., Kobilarov, M. (2014).  Gaussian Approximation of Non-linear Measurement Models on Lie Groups.  53rd IEEE Conference on Decision and Control.  6401–6407.
  • Kobilarov, M. (2013).  Trajectory Control of a Class of Articulated Aerial Robots.  International Conference on Unmanned Aircraft Systems.
  • Kobilarov, M. (2013).  Trajectory tracking of a class of underactuated systems with external disturbances.  American Control Conference.  1044–1049.
  • Frewen, T. A., Sane, H., Kobilarov, M., Bajekal, S., Chevva, K. R. (2011).  Adaptive Path Planning in a Dynamic Environment using a Receding Horizon Probabilistic Roadmap: Experimental Demonstration.  AHS Specialists’ Meeting on Unmanned Rotorcraft.
  • Nair, S., Kobilarov, M. (2011).  Collision Avoidance Norms In Trajectory Planning.  American Control Conference.
  • Kobilarov, M. (2011).  Cross-Entropy Randomized Motion Planning.  Proceedings of Robotics: Science and Systems.
  • Marin Kobilarov, Mathieu Desbrun, Jerrold Marsden,., Sukhatme, G. (2007).  A Discrete Geometric Optimal Control Framework for Systems with Symmetries.  Robotics: Science and Systems.
  • Kobilarov, M., Sukhatme, G. S. (2007).  Optimal Control Using Nonholonomic Integrators.  IEEE International Conference on Robotics and Automation.
  • Kobilarov, M., Hyams, J., Batavia, P., Sukhatme, G. S. (2006).  People tracking and following with mobile robot using an omnidirectional camera and a laser.  IEEE International Conference on Robotics and Automation.
  • Kobilarov, M., Sukhatme, G. S. (2005).  Near time-optimal constrained trajectory planning on outdoor terrain.  IEEE International Conference on Robotics and Automation.
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