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01/18/2023
CaRE: Finding Root Causes of Configuration Issues in Highly-Configurable Robots
Robotic systems have several subsystems that possess a huge combinatoria...
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10/04/2021
AquaVis: A Perception-Aware Autonomous Navigation Framework for Underwater Vehicles
Visual monitoring operations underwater require both observing the objec...
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09/17/2021
Robust-by-Design Plans for Multi-Robot Pursuit-Evasion
This paper studies a multi-robot visibility-based pursuit-evasion proble...
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04/08/2021
Rapid Recovery from Robot Failures in Multi-Robot Visibility-Based Pursuit-Evasion
This paper addresses the visibility-based pursuit-evasion problem where ...
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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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02/17/2021
A Visibility Roadmap Sampling Approach for a Multi-Robot Visibility-Based Pursuit-Evasion Problem
Given a two-dimensional polygonal space, the multi-robot visibility-base...
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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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08/05/2020
What to Do When You Can't Do It All: Temporal Logic Planning with Soft Temporal Logic Constraints
In this paper, we consider a temporal logic planning problem in which th...
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07/07/2020
Coverage of an Environment Using Energy-Constrained Unmanned Aerial Vehicles
We study the problem of covering an environment using an Unmanned Aerial...
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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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08/07/2019
Riverine Coverage with an Autonomous Surface Vehicle over Known Environments
Environmental monitoring and surveying operations on rivers currently ar...
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03/28/2019
Navigation in the Presence of Obstacles for an Agile Autonomous Underwater Vehicle
Navigation underwater traditionally is done by keeping a safe distance f...
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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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08/07/2018
Multi-robot Dubins Coverage with Autonomous Surface Vehicles
In large scale coverage operations, such as marine exploration or aerial...
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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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01/30/2018