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10/23/2022
Lazy Incremental Search for Efficient Replanning with Bounded Suboptimality Guarantees
We present a lazy incremental search algorithm, Lifelong-GLS (L-GLS), al...
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09/20/2022
Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning
In this paper, we develop an approach that enables autonomous robots to ...
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05/31/2022
CBS-Budget (CBSB): A Complete and Bounded Suboptimal Search for Multi-Agent Path Finding
Multi-Agent Path Finding (MAPF) is the problem of finding a collection o...
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05/25/2021
Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation
We present an incremental search algorithm, called Lifelong-GLS, which c...
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12/24/2020
A Generalized A* Algorithm for Finding Globally Optimal Paths in Weighted Colored Graphs
Both geometric and semantic information of the search space is imperativ...
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10/08/2019