Faculty

Marin Kobilarov

Assistant Professor

Research Interests

Developing intelligent robotic vehicles that can perceive, navigate, and accomplish challenging tasks in uncertain, dynamic, and highly constrained environments. Performing research in analytical and computational methods for mechanics, control, motion planning, and reasoning under uncertainty, and in the design and integration of novel mechanisms and embedded systems. Application areas include mobile robots, aerial vehicles, and nanosatellites.

 

Marin Kobilarov is an assistant professor in the Department of Mechanical Engineering. Kobilarov leads the Laboratory for Autonomous Systems, Control, and Optimization. His research group focuses on dynamics and control of mechanical systems, on approximation methods for optimization and motion planning, and on the development of robotic embedded systems. Current applications of his work include unmanned aerial systems and ground vehicles. Prior to joining Johns Hopkins in 2012, he was awarded a Keck Institute for Space Studies postdoctoral felllowship and a United Technologies Research Center postdoctoral fellowship, and performed research in Control and Dynamical Systems at the California Institute of Technology. Kobilarov obtained his PhD from the University of Southern California in Computer Science in 2008, and a BS in Computer Science and Applied Mathematics from Trinity College in 2003.

 

Education
  • Ph.D. 2008, UNIV SOUTHERN CALIFORNIA
Experience
  • 2008 - 2012:  Postdoctoral Fellow, California Institute of Technology
  • 2004 - 2004:  Robotics Engineer (part-time), NASA Jet Propulsion Lab
  • 2003 - 2008:  Research Assistant, Unspecified
Awards
  • 2017:  ICRA 2017 Best Student Paper Award Finalist
  • 2016:  KUKA Innovation Award
  • 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
Journal Articles
  • Sheckells M, Caldwell TM, Kobilarov M (2018).  Fast approximate path coordinate motion primitives for autonomous driving.  2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017.  2018-January.  837-842.
  • Gupta A, Singh S, Gonenc B, Kobilarov M, Iordachita I (2017).  Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery.  Proceedings of IEEE Sensors.  2017-December.  1-3.
  • Garimella G, Funke J, Wang C, Kobilarov M (2017).  Neural network modeling for steering control of an autonomous vehicle.  IEEE International Conference on Intelligent Robots and Systems.  2017-September.  2609-2615.
  • Paxton C, Raman V, Hager GD, Kobilarov M (2017).  Combining neural networks and tree search for task and motion planning in challenging environments.  IEEE International Conference on Intelligent Robots and Systems.  2017-September.  6059-6066.
  • Garimella G, Sheckells M, Kobilarov M (2017).  Robust obstacle avoidance for aerial platforms using adaptive model predictive control.  Proceedings - IEEE International Conference on Robotics and Automation.  5876-5882.
  • Sheckells M, Garimella G, Kobilarov M (2017).  Robust policy search with applications to safe vehicle navigation.  Proceedings - IEEE International Conference on Robotics and Automation.  2343-2349.
  • Garimella G, Sheckells M, Kobilarov M (2016).  A stabilizing gyroscopic obstacle avoidance controller for underactuated systems.  2016 IEEE 55th Conference on Decision and Control, CDC 2016.  5010-5016.
  • Sheckells M, Garimella G, Kobilarov M (2016).  Optimal visual servoing for differentially flat underactuated systems.  IEEE International Conference on Intelligent Robots and Systems.  2016-November.  5541-5548.
  • Paxton C, Jonathan F, Kobilarov M, Hager GD (2016).  Do what I want, not what I did: Imitation of skills by planning sequences of actions.  IEEE International Conference on Intelligent Robots and Systems.  2016-November.  3778-3785.
  • Chalasani P, Wang L, Roy R, Simaan N, Taylor RH, Kobilarov M (2016).  Concurrent nonparametric estimation of organ geometry and tissue stiffness using continuous adaptive palpation.  Proceedings - IEEE International Conference on Robotics and Automation.  2016-June.  4164-4171.
  • Kobilarov M (2015).  Sample complexity bounds for iterative stochastic policy optimization.  Advances in Neural Information Processing Systems.  2015-January.  3114-3122.
  • Kobilarov M, Ta DN, Dellaert F (2015).  Differential dynamic programming for optimal estimation.  Proceedings - IEEE International Conference on Robotics and Automation.  2015-June(June).  863-869.
  • Garimella G, Kobilarov M (2015).  Towards model-predictive control for aerial pick-and-place.  Proceedings - IEEE International Conference on Robotics and Automation.  2015-June(June).  4692-4697.
  • Kobilarov M, Pellegrino S (2014).  Trajectory planning for CubeSat short-time-scale proximity operations.  Journal of Guidance, Control, and Dynamics.  37(2).  566-579.
  • Kobilarov M (2014).  Nonlinear trajectory control of multi-body aerial manipulators.  Journal of Intelligent and Robotic Systems: Theory and Applications.  73(1-4).  679-692.
  • Kobilarov M (2014).  Discrete optimal control on lie groups and applications To robotic vehicles.  Proceedings - IEEE International Conference on Robotics and Automation.  5523-5529.
  • Demoures F, Gay-Balmaz F, Kobilarov M, Ratiu TS (2014).  Multisymplectic Lie group variational integrator for a geometrically exact beam in R3.  Communications in Nonlinear Science and Numerical Simulation.  19(10).  3492-3512.
  • Kobilarov M (2014).  Solvability of geometric integrators for multi-body systems.  Computational Methods in Applied Sciences.  35.  145-174.
  • Chirikjian G, Kobilarov M (2014).  Gaussian approximation of non-linear measurement models on Lie groups.  Proceedings of the IEEE Conference on Decision and Control.  2015-February(February).  6401-6406.
  • Kobilarov M (2014).  Nonlinear Trajectory Control of Multi-body Aerial Manipulators.  Journal of Intelligent & Robotic Systems.  73(1-4).  679-692.
  • Ta DN, Kobilarov M, Dellaert F (2014).  A factor graph approach to estimation and model predictive control on unmanned aerial vehicles.  2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings.  181-188.
  • Demoures F, Gay-Balmaz F, Kobilarov M, Ratiu TS (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 (2013).  Trajectory tracking of a class of underactuated systems with external disturbances.  Proceedings of the American Control Conference.  1044-1049.
  • Kobilarov M (2013).  Trajectory control of a class of articulated aerial robots.  2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings.  958-965.
  • Jiménez F, Kobilarov M, Martín De Diego D (2013).  Discrete variational optimal control.  Journal of Nonlinear Science.  23(3).  393-426.
  • Flaßkamp K, Ober-Blöbaum S, Kobilarov M (2012).  Solving optimal control problems by exploiting inherent dynamical systems structures.  Journal of Nonlinear Science.  22(4).  599-629.
  • Kobilarov M (2012).  Cross-entropy motion planning.  International Journal of Robotics Research.  31(7).  855-871.
  • Kobilarov M, Pellegrino S (2012).  Trajectory Planning for Cubesat Short Time-Scale Proximity Operations.
  • Kobilarov M (2012).  Cross-entropy Motion Planning.  International Journal of Robotics Research.  31(7).  855-871.
  • Flaßkamp K, Ober-Blöbaum S, Kobilarov M (2012).  Solving Optimal Control Problems by Exploiting Inherent Dynamical Systems Structures.  Journal of Nonlinear Science.
  • Jimenez F, Kobilarov M, Martin de Diego, David (2012).  Discrete Variational Optimal Control.  Journal of Nonlinear Science.  1-34.
  • Kobilarov M (2012).  Cross-entropy randomized motion planning.  Robotics: Science and Systems.  7.  153-160.
  • Kobilarov M, Marsden JE, Sukhatme GS (2012).  Global estimation in constrained environments.  International Journal of Robotics Research.  31(1).  24-41.
  • Frewen TA, Sane H, Kobilarov M, Bajekal S, Chevva KR (2011).  Adaptive path planning in a dynamic environment using a receding horizon probabilistic roadmap: Experimental demonstration.  American Helicopter Society International - AHS Specialists' Meeting on Unmanned Rotorcraft and Network Centric Operations 2011.  176-184.
  • Nair S, Kobilarov M (2011).  Collision avoidance norms in trajectory planning.  Proceedings of the American Control Conference.  4667-4672.
  • Kobilarov MB, Marsden JE (2011).  Discrete geometric optimal control on lie groups.  IEEE Transactions on Robotics.  27(4).  641-655.
  • Kobilarov M, Marsden J (2011).  Discrete Geometric Optimal Control on Lie Groups.  Robotics, IEEE Transactions on.  27(4).  641-655.
  • Banaszuk A, Fonoberov VA, Frewen TA, Kobilarov M, Mathew G, Mezic I, Pinto A, Sahai T, Sane H, Speranzon A, Surana A (2011).  Scalable approach to uncertainty quantification and robust design of interconnected dynamical systems.  Annual Reviews in Control.  35(1).  77-98.
  • Kobilarov M, Marsden JE, Sukhatme GS (2011).  Global Estimation in Constrained Environments.  The International Journal of Robotics Research.  31(1).  24-41.
  • Kobilarov M, Marsden J (2011).  Discrete Geometric Optimal Control on Lie Groups.  IEEE Transactions on Robotics.  27(4).  641-655.
  • Banaszuk A, Fonoberov V, Frewen TA, Kobilarov M, Mathew G, I. Mezic AP, 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.
  • Dubljevic S, Kobilarov M, Ng J (2010).  Discrete mechanics optimal control (DMOC) and model predictive control (MPC) synthesis for reaction-diffusion process system with moving actuator.  Proceedings of the 2010 American Control Conference, ACC 2010.  5694-5701.
  • Kobilarov M, Marsden JE, Sukhatme GS (2010).  Geometric discretization of nonholonomic systems with symmetries.  Discrete and Continuous Dynamical Systems - Series S.  3(1).  61-84.
  • Kobilarov M, Marsden JE, Sukhatme GS (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 Transactions on Graphics.  28(2).
  • Kobilarov M, Crane K, Desbrun M (2009).  Lie group integrators for animation and control of vehicles.  ACM Trans. Graph..  28(2).  1-14.
  • Kobilarov M, Desbrun M, Marsden JE, Sukhatme GS (2008).  A discrete geometric optimal control framework for systems with symmetries.  Robotics: Science and Systems.  3.  161-168.
  • Kobilarov M, Sukhatme G (2007).  Optimal control using nonholonomic integrators.  Proceedings - IEEE International Conference on Robotics and Automation.  1832-1837.
  • Kobilarov M, Sukhatme G, Hyams J, Batavia P (2006).  People tracking and following with mobile robot using an omnidirectional camera and a laser.  Proceedings - IEEE International Conference on Robotics and Automation.  2006.  557-562.
  • Kobilarov MB, Sukhatme GS (2005).  Near time-optimal constrained trajectory planning on outdoor terrain.  Proceedings - IEEE International Conference on Robotics and Automation.  2005.  1821-1828.
Book Chapters
  • Kobilarov M (2013).  Solvability of Geometric Integrators for Multi-body Systems.  Multibody Dynamics: Computational Methods and Applications.
Conference Proceedings
  • Changyan He AND Niravkumar Patel AND Ioan Iulian Iordachita AND Marin Kobilarov (2019).  Enabling Technology for Safe Robot-Assisted Retinal Surgery: Early Warning for Unsafe Scleral Force.  to appear in 2019 IEEE International Conference on Robotics and Automation (ICRA).
  • Ali Ebrahimi AND Niravkumar Patel AND Changyan He AND Peter Gehlbach AND Marin Kobilarov AND Ioan Iulian Iordachita (2019).  Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery.  to appear in 2019 IEEE International Conference on Robotics and Automation (ICRA).
  • Ali Ebrahimi AND Changyan He AND Niravkumar Patel AND Marin Kobilarov AND Peter Gehlbach AND Ioan Iulian Iordachita (2019).  Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback.  to appear in the 2019 International Symposium on Medical Robotics (ISMR).
  • Changyan He AND Niravkumar Patel AND Ali Ebrahimi AND Ioan Iulian Iordachita AND Marin Kobilarov (2019).  Preliminary Study of An RNN Based Active Interventional Robotic System (AIRS) in Retinal Microsurgery.  to appear in The 9th International Conference on Information Processing in Computer-Assisted Interventions (IPCAI).
  • Matthew Sheckells AND Gowtham Garimella AND Subhransu Mishra AND Marin Kobilarov (2019).  Using Data-Driven Domain Randomization to Transfer Robust Control Policies to Mobile Robots.  to appear in 2019 IEEE International Conference on Robotics and Automation (ICRA).
  • Gowtham Garimella AND Matthew Sheckells AND Joseph Moore AND Marin Kobilarov (2018).  Robust Obstacle Avoidance using Tube NMPC.  Proceedings of Robotics: Science and Systems.
  • Y. T. Tan,, Abhinav Kunapareddy,, Marin Kobilarov (2018).  Gaussian Process Adaptive Sampling using the Cross-Entropy Method for Environmental Sensing and Monitoring.  IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia.
  • A. Gupta, S. Singh, B. Gonenc, M. Kobilarov, I. Iordachita (2017).  Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery.  2017 IEEE SENSORS.  1-3.
  • G. Garimella, M. Sheckells, M. Kobilarov (2017).  Robust obstacle avoidance for aerial platforms using adaptive model predictive control.  2017 IEEE International Conference on Robotics and Automation (ICRA).  5876-5882.
  • Sheckells M, Caldwell TM, Kobilarov M (2017).  Fast Approximate Path Coordinate Motion Primitives for Autonomous Driving.  2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
  • Paxton C, Raman V, Hager GD, Kobilarov M (2017).  Combining neural networks and tree search for task and motion planning in challenging environments.  2017 IEEE International Conference on Robotics and Intelligent Systems (IROS).
  • G. Garimella, J. Funke, C. Wang, M. Kobilarov (2017).  Neural network modeling for steering control of an autonomous vehicle.  2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  2609-2615.
  • P. Chalasani, L. Wang, R. Roy, N. Simaan, R. H. Taylor, M. Kobilarov (2016).  Concurrent nonparametric estimation of organ geometry and tissue stiffness using continuous adaptive palpation.  2016 IEEE International Conference on Robotics and Automation (ICRA).  4164-4171.
  • Kobilarov M (2014).  Discrete optimal control on Lie groups and applications to robotic vehicles.  IEEE International Conference on Robotics and Automation.  5523-5529.
  • 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.
  • 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 tracking of a class of underactuated systems with external disturbances.  American Control Conference.  1044-1049.
  • Kobilarov M (2013).  Trajectory Control of a Class of Articulated Aerial Robots.  International Conference on Unmanned Aircraft Systems.
  • Kobilarov M (2011).  Cross-Entropy Randomized Motion Planning.  Proceedings of Robotics: Science and Systems.
  • Frewen TA, Sane H, Kobilarov M, Bajekal S, Chevva KR (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, Sukhatme GS (2007).  Optimal Control Using Nonholonomic Integrators.  IEEE International Conference on Robotics and Automation.
  • Kobilarov M, Hyams J, Batavia P, Sukhatme GS (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 GS (2005).  Near time-optimal constrained trajectory planning on outdoor terrain.  IEEE International Conference on Robotics and Automation.
  • "CPS Robotics Applications in Agriculture", CPS-Ag workshop Panel.  November 14, 2018
  • "NIPS Workshop on Machine Learning for Intelligent Transportation Systems".  Long Beach.  December 9, 2017
  • "Agriculture CPS Panel".  Washington.  November 13, 2017
  • "ICRA Workshop on Aerial Robotics Manipulation: from Simulation to Real-life".  Stockholm.  May 18, 2016
  • "MIT Lincoln Labs".  Boston.  July 16, 2015
  • "United Technologies Research Center,".  June 19, 2015
  • "ICRA Workshop on Aerial Manipulation".  May 13, 2015
  • "GALCIT Seminar".  February 26, 2015
  • Foundations of Computational Mathematics (FoCM).  Montevideo.  December 16, 2014
  • JHU Water Institute Meeting.  December 8, 2014
  • Systems and Control Seminar.  October 10, 2014
  • JHU ECE Department Seminar.  October 1, 2014
  • European Nonlinear Dynamics Conference.  Vienna.  July 7, 2014
  • Workshop on Aerial Robots Physically Interacting with the Environment.  June 19, 2014
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