Kota Kondo

MIT Aerospace Controls Laboratory | Multiagent Systems | Trajectory Planning | Optimization | Learning-based Planning

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I am a graduate student at MIT AeroAstro, working in the Aerospace Controls Lab (ACL) under the guidance of Professor Jonathan How. My research interests focus on multiagent systems, optimization, and learning-based trajectory planning.

My current research focuses on spatiotemporal trajectory planning for dynamic unknown environments, heterogeneous robot teams, learning-based multiagent trajectory planning utilizing diffusion models, and perception-aware and uncertainty-aware trajectory planning. My past experience includes detumbling an under-actuated spacecraft with a single-axis magnetic actuator and quadcopter path planning with an onboard EMPC controller.

news

Apr 2026 Submitted SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments to arXiv. Paper / Code / Video
Apr 2026 MIGHTY accepted to IEEE Robotics and Automation Letters (RA-L). Paper / Code
Nov 2025 Submitted MIGHTY: Hermite Spline-based Efficient Trajectory Planning to IEEE Robotics and Automation Letters. Paper / Code
Sep 2025 Paper on Efficient Navigation in Unknown Indoor Environments with Vision-Language Models accepted to IROS 2025 OWN Workshop.
Apr 2025 Submitted DYNUS: Uncertainty-aware Trajectory Planner in Dynamic Unknown Environments to IEEE Transactions on Robotics. Paper / Code

projects

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SANDO

safe autonomous trajectory planning for dynamic unknown environments
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MIGHTY

Hermite spline-based efficient trajectory planning
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DYNUS

uncertainty-aware trajectory planner in dynamic unknown environments
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VLM Navigation

efficient navigation in unknown indoor environments with vision-language models
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CGD

constraint-guided diffusion policies for UAV trajectory planning
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REAL

resilience and adaptation using large language models on autonomous aerial robots
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SOS-Match

segmentation for open-set robust correspondence search and robot localization
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PUMA

fully decentralized uncertainty-aware multiagent trajectory planner with image segmentation-based frame alignment
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Robust MADER

fully decentralized asynchronous multiagent trajectory planner robust to communication delays
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PRIMER

perception-aware robust learning-based multiagent trajectory planner
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Satellite Detumbling

nonlinear model predictive detumbling of under-actuated satellites with a single-axis magnetic actuator

publications

  1. sando.gif
    SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments
    K. Kondo, J. Tordesillas, and J. P. How
    arXiv preprint arXiv:2604.07599, 2026
    arXiv Code Video
  2. mighty.gif
    MIGHTY: Hermite Spline-based Efficient Trajectory Planning
    K. Kondo, Y. Wu, V. Kumar, and 1 more author
    arXiv preprint arXiv:2511.10822, 2025
    arXiv Code Video
  3. dynus.gif
    DYNUS: Uncertainty-aware Trajectory Planner in Dynamic Unknown Environments
    K. Kondo, M. Peterson, N. Rober, and 5 more authors
    arXiv preprint arXiv:2504.16734, 2025
    arXiv Code Video
  4. vlm_nav.png
    Efficient Navigation in Unknown Indoor Environments with Vision-Language Models
    D. Schwartz, K. Kondo, and J. P. How
    In IROS 2025 OWN Workshop, 2025
    arXiv Code
  5. cgd.png
    CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning
    K. Kondo, A. Tagliabue, X. Cai, and 4 more authors
    In IEEE Conference on Decision and Control (CDC), 2024
    arXiv
  6. real.png
    REAL: Resilience and Adaptation using Large Language Models on Autonomous Aerial Robots
    A. Tagliabue, K. Kondo, T. Zhao, and 3 more authors
    In IEEE Conference on Decision and Control (CDC), 2024
    arXiv
  7. sosmatch.png
    SOS-Match: Segmentation for Open-Set Robust Correspondence Search and Robot Localization in Unstructured Environments
    J. Kinnari, A. Thomas, P. C. Lusk, and 2 more authors
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
    arXiv Code
  8. puma.gif
    PUMA: Fully Decentralized Uncertainty-aware Multiagent Trajectory Planner with Real-time Image Segmentation-based Frame Alignment
    K. Kondo, C. Tewari, M. Peterson, and 4 more authors
    In IEEE International Conference on Robotics and Automation (ICRA), 2024
    arXiv Code Video
  9. rmader.gif
    Robust MADER: Decentralized Multiagent Trajectory Planner Robust to Communication Delay in Dynamic Environments
    K. Kondo, R. Figueroa, J. Rached, and 3 more authors
    IEEE Robotics and Automation Letters, 2023
    arXiv Code Video
  10. rmader.gif
    Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay
    K. Kondo, J. Tordesillas, R. Figueroa, and 4 more authors
    In IEEE International Conference on Robotics and Automation (ICRA), 2023
    arXiv Code Video
  11. primer.png
    PRIMER: Perception-Aware Robust Learning-based Multiagent Trajectory Planner
    K. Kondo, C. Tewari, A. Tagliabue, and 3 more authors
    In IEEE International Conference on Robotics and Automation (ICRA), 2024
    arXiv Video
  12. detumbling.png
    Nonlinear Model Predictive Detumbling of Small Satellites with a Single-Axis Magnetic Actuator
    K. Kondo, I. Kolmanovsky, Y. Yoshimura, and 3 more authors
    Journal of Guidance, Control, and Dynamics, 2021
    arXiv
  13. detumbling.png
    Pulse Width Modulation Method Applied to Nonlinear Model Predictive Control on an Under-actuated Small Satellite
    K. Kondo, Y. Yoshimura, S. Nagasaki, and 1 more author
    In AIAA SciTech Forum, 2021
    arXiv
  14. detumbling.png
    Model Predictive Approach for Detumbling an Underactuated Satellite
    K. Kondo, Y. Yoshimura, M. Bando, and 2 more authors
    In AIAA SciTech Forum, 2020
    arXiv
  15. detumbling.png
    Detumbling with Model Predictive Control for an Underactuated Small Satellite
    K. Kondo, Y. Yoshimura, M. Bando, and 2 more authors
    In AIAA Region VII Australia/International Student Conference, 2019
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