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.

PhD Thesis Defense (July 15, 2026)

news

Jul 2026 STORM accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2026. Paper / Video
Jul 2026 Successfully defended my PhD thesis Safe and Fast Trajectory Planning in Unknown Dynamic Environments. Video
Jul 2026 SANDO conditionally accepted to IEEE Transactions on Robotics (T-RO). Paper / Code / Video
Apr 2026 Submitted SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments to IEEE Transactions on Robotics (T-RO). Paper / Code / Video
Apr 2026 MIGHTY accepted to IEEE Robotics and Automation Letters (RA-L). Paper / Code

projects

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SANDO

safe autonomous trajectory planning for dynamic unknown environments
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STORM

robust dynamic object detection in cluttered indoor scenes via learned spatiotemporal cues
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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
    IEEE Transactions on Robotics, 2026
    Conditionally accepted
    arXiv Code Video
  2. storm.png
    Robust Dynamic Object Detection in Cluttered Indoor Scenes via Learned Spatiotemporal Cues
    J. Rached Viso, Y. Jia, K. Kondo, and 1 more author
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026
    arXiv Video
  3. mighty.gif
    MIGHTY: Hermite Spline-Based Efficient Trajectory Planning
    K. Kondo, Y. Wu, V. Kumar, and 1 more author
    IEEE Robotics and Automation Letters, 2026
    arXiv Code Video
  4. 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
  5. 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
  6. cgd.png
    CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning
    K. Kondo, A. Tagliabue, X. Cai, and 4 more authors
    arXiv preprint arXiv:2405.01758, 2024
    arXiv
  7. 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
  8. 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
  9. 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
  10. 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
  11. 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
  12. 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
  13. 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
  14. 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
  15. 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
  16. 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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