publications

2026

2026

  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

2025

2025

  1. 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
  2. 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
  3. 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

2024

2024

  1. 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
  2. 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
  3. 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
  4. 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
  5. 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

2023

2023

  1. 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
  2. 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

2022

2021

2021

  1. 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
  2. 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

2020

2020

  1. 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

2019

2019

  1. 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
    HTML

2018