Publications

Most of my recent work in industry is unpublished because it is restricted by Non-Disclosure Agreements. See the Work page for a description of what I have been working on since finishing my Ph.D. in 2016.

Journal Papers

Michael C. Koval, Nancy S. Pollard, and Siddhartha S. Srinivasa. Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty. International Journal of Robotics Research, 35(1-3):244–264, 2016. doi:10.1177/0278364915594474. [video]
Michael C. Koval, Nancy S. Pollard, and Siddhartha S. Srinivasa. Pose estimation for planar contact manipulation with manifold particle filters. International Journal of Robotics Research, 34(7):922–945, 2015. doi:10.1177/0278364915571007.
Mehmet R. Dogar, Michael C. Koval, Abhijeet Tallavajhula, and Siddhartha S. Srinivasa. Object search by manipulation. Autonomous Robots, 36(1-2):153–167, October 2013. doi:10.1007/s10514-013-9372-x.

Conference Papers

Joni Pajarinen, Ville Kyrki, Michael C. Koval, Siddhartha S. Srinivasa, Jan Peters, and Gerhard Neumann. Hybrid control trajectory optimization under uncertainty. In IEEE/RSJ International Conference on Intelligent Robots and Systems. September 2017. doi:10.1109/IROS.2017.8206460.
Michael C. Koval, Matthew Klingensmith, Siddhartha S. Srinivasa, Nancy S. Pollard, and Michael Kaess. The manifold particle filter for state estimation on high-dimensional implicit manifolds. In IEEE International Conference on Robotics and Automation. May 2017. doi:10.1109/ICRA.2017.7989543. [video]
Michael C. Koval, David Hsu, Nancy S. Pollard, and Siddhartha S. Srinivasa. Configuration lattices for planar contact manipulation under uncertainty. In Workshop on the Algorithmic Foundations of Robotics. December 2016.
Siddhartha S. Srinivasa, Aaron M. Johnson, Gilwoo Lee, Michael C. Koval, Shushman Choudhury, Jennifer E. King, Christopher M. Dellin, Matthew Harding, David T. Butterworth, Prasanna Velagapudi, and Allison Thackston. A system for multi-step mobile manipulation: architecture, algorithms, and experiments. In International Symposium on Experimental Robotics. October 2016. doi:10.1007/978-3-319-50115-4_23.
Michael C. Koval, Jennifer E. King, and Siddhartha S. Srinivasa. Robust trajectory selection for rearrangement planning as a multi-armed bandit problem. In IEEE/RSJ International Conference on Intelligent Robots and Systems. September 2015. doi:10.1109/IROS.2015.7353743.
Michael C. Koval, Nancy S. Pollard, and Siddhartha S. Srinivasa. Pre- and post-contact policy decomposition for planar contact manipulation under uncertainty. In Robotics: Science and Systems. July 2014. doi:10.15607/RSS.2014.X.034. [conference]
Michael C. Koval, Nancy S. Pollard, and Siddhartha S. Srinivasa. Manifold representations for state estimation in contact manipulation. In International Symposium of Robotics Research. December 2013. Invited. doi:10.1007/978-3-319-28872-7_22.
Michael C. Koval, Mehmet R. Dogar, Nancy S. Pollard, and Siddhartha S. Srinivasa. Pose estimation for contact manipulation with manifold particle filters. In IEEE/RSJ International Conference on Intelligent Robots and Systems. November 2013. doi:10.1109/IROS.2013.6697009. [video]
Mehmet R. Dogar, Michael C. Koval, Abhijeet Tallavajhula, and Siddhartha S. Srinivasa. Object search by manipulation. In IEEE International Conference on Robotics and Automation. May 2013. doi:10.1109/ICRA.2013.6631288. [video]

Workshop Papers and Presentations

Interactive Motion Planning for Autonomous Vehicles. Robotics: Science and Systems. Workshop on Perception and Control for Autonomous Navigation in Crowded, Dynamic Environments. July 2021. [recording]
Garth J. Zeglin, Aaron Walsman, Laura Herlant, Zhaodong Zheng, Yuyang Guo, Michael C. Koval, Kevin Lenzo, Hui Jun Tay, Prasanna Velagapudi, Katie Correll, and Siddhartha Srinivasa. HERB's Sure Thing: a rapid drama system for rehearsing and performing live robot theater. In IEEE International Workshop on Advanced Robotics and its Social Impacts. September 2014. Workshop. doi:10.1109/ARSO.2014.7020993.

Theses

Michael C. Koval. Robust Manipulation via Contact Sensing. PhD thesis, Carnegie Mellon University, 2016.

Technical Reports

Joni Pajarinen, Ville Kyrki, Michael Koval, Siddhartha Srinivasa, Jan Peters, and Gerhard Neumann. Hybrid control trajectory optimization under uncertainty. Technical Report arxiv:1702.04396, arXiv, February 2017. Preprint.
Michael C. Koval, David Hsu, Nancy S. Pollard, and Siddhartha S. Srinivasa. Configuration lattices for planar contact manipulation under uncertainty. Technical Report arXiv:1605.00169, arXiv, May 2016. Preprint.
Matthew Klingensmith, Michael C. Koval, Siddhartha S. Srinivasa, Nancy S. Pollard, and Michael Kaess. The manifold particle filter for state estimation on high-dimensional implicit manifolds. Technical Report arXiv:1604.07224, arXiv, April 2016. Preprint.
Michael C. Koval, Mehmet R. Dogar, Nancy S. Pollard, and Siddhartha S. Srinivasa. Pose estimation for contact manipulation with manifold particle filters. Technical Report CMU-RI-TR-13-11, Robotics Institute, May 2013. [archive page]
Michael C. Koval, Peter Vasilnak, and Elie Rosen. Navi design report: 2012 Intelligent Ground Vehicle Competition. Technical Report, Rutgers University, June 2012.
Adam Stambler, Peter Vasilnak, and Michael C. Koval. Navigator design report: 2011 Intelligent Ground Vehicle Competition. Technical Report, Rutgers University, June 2011.

Invited Talks

Waymo Planner. CSE478 Autonomous Robotics, University of Washington. May 2023.
Motion Planning at Waymo. Motion Planning in Industry, University of Washington. 2020.