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07/18/2023
Sampling-based Model Predictive Control Leveraging Parallelizable Physics Simulations
We present a method for sampling-based model predictive control that mak...
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07/08/2023
Optimizing Task Waiting Times in Dynamic Vehicle Routing
We study the problem of deploying a fleet of mobile robots to service ta...
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07/03/2023
Scenario-Based Motion Planning with Bounded Probability of Collision
Robots will increasingly operate near humans that introduce uncertaintie...
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04/14/2023
A Framework for Fast Prototyping of Photo-realistic Environments with Multiple Pedestrians
Robotic applications involving people often require advanced perception ...
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04/11/2023
Contingency Games for Multi-Agent Interaction
Contingency planning, wherein an agent generates a set of possible plans...
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04/11/2023
TrajFlow: Learning the Distribution over Trajectories
Predicting the future behaviour of people remains an open challenge for ...
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03/21/2023
Pooled Grocery Delivery with Tight Deadlines from Multiple Depots
We study routing for on-demand last-mile logistics with two crucial nove...
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02/21/2023
Probabilistic Risk Assessment for Chance-Constrained Collision Avoidance in Uncertain Dynamic Environments
Balancing safety and efficiency when planning in crowded scenarios with ...
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02/14/2023
Reachability-Based Confidence-Aware Probabilistic Collision Detection in Highway Driving
Risk assessment is a crucial component of collision warning and avoidanc...
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02/14/2023
Autotuning Symbolic Optimization Fabrics for Trajectory Generation
In this paper, we present an automated parameter optimization method for...
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02/13/2023
Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals
Autonomous vehicles that operate in urban environments shall comply with...
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02/03/2023
Learning Players' Objectives in Continuous Dynamic Games from Partial State Observations
Robots deployed to the real world must be able to interact with other ag...
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12/06/2022
Active Classification of Moving Targets with Learned Control Policies
In this paper, we consider the problem where a drone has to collect sema...
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11/27/2022
Reinforcement Learning from Simulation to Real World Autonomous Driving using Digital Twin
Reinforcement learning (RL) is a promising solution for autonomous vehic...
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11/24/2022
Learning to Play Trajectory Games Against Opponents with Unknown Objectives
Many autonomous agents, such as intelligent vehicles, are inherently req...
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10/12/2022
Local Planner Bench: Benchmarking for Local Motion Planning
Local motion planning is a heavily researched topic in the field of robo...
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10/04/2022
Wi-Closure: Reliable and Efficient Search of Inter-robot Loop Closures Using Wireless Sensing
In this paper we propose a novel algorithm, Wi-Closure, to improve compu...
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06/01/2022
Error-Bounded Approximation of Pareto Fronts in Robot Planning Problems
Many problems in robotics seek to simultaneously optimize several compet...
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05/31/2022
Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints
We address the problem of assigning a team of drones to autonomously cap...
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05/17/2022
Dynamic Optimization Fabrics for Motion Generation
Optimization fabrics represent a geometric approach to real-time motion ...
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05/03/2022
Prediction-Based Reachability Analysis for Collision Risk Assessment on Highways
Real-time safety systems are crucial components of intelligent vehicles....
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04/30/2022
Learning Mixed Strategies in Trajectory Games
In multi-agent settings, game theory is a natural framework for describi...
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02/24/2022
Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals
In unstructured urban canals, regulation-aware interactions with other v...
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02/15/2022
Improving Pedestrian Prediction Models with Self-Supervised Continual Learning
Autonomous mobile robots require accurate human motion predictions to sa...
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02/13/2022
Continuous Occupancy Mapping in Dynamic Environments Using Particles
Dynamic occupancy maps were proposed in recent years to model the obstac...
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01/11/2022
Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells
In this paper, we present a decentralized and communication-free collisi...
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10/28/2021
Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery
Multi-agent Pickup and Delivery (MAPD) is a challenging industrial probl...
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07/09/2021
Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarios
Autonomous navigation in dense traffic scenarios remains challenging for...
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05/06/2021
How to split the costs among travellers sharing a ride? Aligning system's optimum with users' equilibrium
How to form groups in a mobility system that offers shared rides, and ho...
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03/17/2021
Online Informative Path Planning for Active Information Gathering of a 3D Surface
This paper presents an online informative path planning approach for act...
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02/25/2021
Where to go next: Learning a Subgoal Recommendation Policy for Navigation Among Pedestrians
Robotic navigation in environments shared with other robots or humans re...
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02/10/2021
Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments
This paper presents a data-driven decentralized trajectory optimization ...
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10/20/2020
Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments
This paper presents a method for local motion planning in unstructured e...
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10/18/2020
Social-VRNN: One-Shot Multi-modal Trajectory Prediction for Interacting Pedestrians
Prediction of human motions is key for safe navigation of autonomous rob...
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09/25/2020
With Whom to Communicate: Learning Efficient Communication for Multi-Robot Collision Avoidance
Decentralized multi-robot systems typically perform coordinated motion p...
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06/04/2020
Comment on "A Real-Time Approach for Chance-Constrained Motion Planning with Dynamic Obstacles"
This comment presents the results of using chance-constrained model pred...
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02/12/2020
Robust Vision-based Obstacle Avoidance for Micro Aerial Vehicles in Dynamic Environments
In this paper, we present an on-board vision-based approach for avoidanc...
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06/28/2019
Sample Efficient Learning of Path Following and Obstacle Avoidance Behavior for Quadrotors
In this paper we propose an algorithm for the training of neural network...
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07/05/2018
The Impact of Ridesharing in Mobility-on-Demand Systems: Simulation Case Study in Prague
In densely populated-cities, the use of private cars for personal transp...
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11/18/2013