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03/02/2023
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge
Although autonomy has gained widespread usage in structured and controll...
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12/01/2022
Adaptive Conformal Prediction for Motion Planning among Dynamic Agents
This paper proposes an algorithm for motion planning among dynamic agent...
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07/30/2022
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
Legged robots can traverse a wide variety of terrains, some of which may...
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04/21/2022
Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification
The dramatic increase of autonomous systems subject to variable environm...
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04/20/2022
Risk-Averse Receding Horizon Motion Planning
This paper studies the problem of risk-averse receding horizon motion pl...
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03/25/2022
Moving Obstacle Avoidance: a Data-Driven Risk-Aware Approach
This paper proposes a new structured method for a moving agent to predic...
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03/22/2022
Distributionally Robust Model Predictive Control with Total Variation Distance
This paper studies the problem of distributionally robust model predicti...
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03/26/2021
Risk-Averse Stochastic Shortest Path Planning
We consider the stochastic shortest path planning problem in MDPs, i.e.,...
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03/21/2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software arc...
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03/04/2021
STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation
Although ground robotic autonomy has gained widespread usage in structur...
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11/23/2020
Risk-Sensitive Motion Planning using Entropic Value-at-Risk
We consider the problem of risk-sensitive motion planning in the presenc...
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04/10/2020
