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09/13/2023
A fixed-parameter tractable algorithm for combinatorial filter reduction
What is the minimal information that a robot must retain to achieve its ...
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07/25/2023
Sensor selection for fine-grained behavior verification that respects privacy (extended version)
A useful capability is that of classifying some agent's behavior using d...
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05/16/2023
Optimizing pre-scheduled, intermittently-observed MDPs
A challenging category of robotics problems arises when sensing incurs s...
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09/10/2022
A general class of combinatorial filters that can be minimized efficiently
State minimization of combinatorial filters is a fundamental problem tha...
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04/01/2022
Nondeterminism subject to output commitment in combinatorial filters
We study a class of filters – discrete finite-state transition systems e...
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07/15/2021
On nondeterminism in combinatorial filters
The problem of combinatorial filter reduction arises from questions of r...
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06/01/2021
Lattices of sensors reconsidered when less information is preferred
To treat sensing limitations (with uncertainty in both conflation of inf...
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03/12/2021
Sensor selection for detecting deviations from a planned itinerary
Suppose an agent asserts that it will move through an environment in som...
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02/25/2021
Motion Planning for a Pair of Tethered Robots
Considering an environment containing polygonal obstacles, we address th...
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11/06/2020
Accelerating combinatorial filter reduction through constraints
Reduction of combinatorial filters involves compressing state representa...
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11/04/2020
Planning to Chronicle
An important class of applications entails a robot monitoring, scrutiniz...
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06/07/2020
Every Action Based Sensor
In studying robots and planning problems, a basic question is what is th...
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05/22/2020
Abstractions for computing all robotic sensors that suffice to solve a planning problem
Whether a robot can perform some specific task depends on several aspect...
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02/21/2020
Experiments with Tractable Feedback in Robotic Planning under Uncertainty: Insights over a wide range of noise regimes
We consider the problem of robotic planning under uncertainty. This prob...
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02/15/2020
Cover Combinatorial Filters and their Minimization Problem (Extended Version)
Recent research has examined algorithms to minimize robots' resource foo...
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02/15/2020
Cover Combinatorial Filters and their Minimization Problem
A recent research theme has been the development of automatic methods to...
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09/09/2019
Reality as a simulation of reality: robot illusions, fundamental limits, and a physical demonstration
We consider problems in which robots conspire to present a view of the w...
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10/09/2018
What does my knowing your plans tell me?
For robots acting in the presence of observers, we examine the informati...
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09/25/2018
Finding plans subject to stipulations on what information they divulge
Motivated by applications where privacy is important, we consider planni...
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07/23/2018
Toward a language-theoretic foundation for planning and filtering
We address problems underlying the algorithmic question of automating th...
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06/13/2018
Robot Design: Formalisms, Representations, and the Role of the Designer
The objective of this paper is to distill the following essential idea f...
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05/31/2018