publications

2026

2026

  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

2025

2025

  1. 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
  2. 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
    arXiv preprint arXiv:2405.01758, 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