
Accelerating Kinodynamic RRT* Through Dimensionality Reduction
Samplingbased motion planning algorithms such as RRT* are wellknown fo...
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Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation
We present an incremental search algorithm, called LifelongGLS, which c...
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Belief Space Planning: A Covariance Steering Approach
A new belief space planning algorithm, called covariance steering Belief...
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On the Time Discretization of the FeynmanKac ForwardBackward Stochastic Differential Equations for Value Function Approximation
Novel numerical estimators are proposed for the forwardbackward stochas...
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LES: Locally Exploitative Sampling for Robot Path Planning
Samplingbased algorithms solve the path planning problem by generating ...
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MultiAgent Consensus Subject to Communication and Privacy Constraints
We consider a multiagent consensus problem in the presence of adversari...
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InformationTheoretic Abstractions for ResourceConstrained Agents via MixedInteger Linear Programming
In this paper, a mixedinteger linear programming formulation for the pr...
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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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Learning Nash Equilibria in ZeroSum Stochastic Games via EntropyRegularized Policy Approximation
We explore the use of policy approximation for reducing the computationa...
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ForwardBackward RRT: Branched Sampled FBSDEs for Stochastic Optimal Control
We propose a numerical method to solve forwardbackward stochastic diffe...
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Apollonius Allocation Algorithm for Heterogeneous Pursuers to Capture Multiple Evaders
In this paper, we address pursuitevasion problems involving multiple pu...
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An InformationTheoretic Approach for Path Planning in Agents with Computational Constraints
In this paper, we develop a framework for pathplanning on abstractions ...
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TimeInformed Exploration For Robot Motion Planning
Anytime samplingbased methods are an attractive technique for solving k...
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GPU Parallelization of Policy Iteration RRT#
Samplingbased planning has become a de facto standard for complex robot...
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Safe Optimal Control under Parametric Uncertainties
We address the issue of safe optimal path planning under parametric unce...
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Relevant Region Exploration On General Costmaps For SamplingBased Motion Planning
Asymptotically optimal samplingbased planners require an intelligent ex...
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MAMSA*: MultiAgent MultiScale A*
We present a multiscale forward search algorithm for distributed agents...
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QSearch Trees: An InformationTheoretic Approach Towards Hierarchical Abstractions for Agents with Computational Limitations
In this paper, we develop a framework to obtain graph abstractions for d...
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VisionBased Autonomous Vehicle Control using the TwoPoint Visual Driver Control Model
This work proposes a new selfdriving framework that uses a human driver...
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Optimal Stochastic Vehicle Path Planning Using Covariance Steering
This work addresses the problem of vehicle path planning in the presence...
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AutoRally An open platform for aggressive autonomous driving
This article presents AutoRally, a 1:5 scale robotics testbed for autono...
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Hierarchical State Abstractions for DecisionMaking Problems with Computational Constraints
In this semitutorial paper, we first review the informationtheoretic a...
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Incremental Samplingbased Motion Planners Using Policy Iteration Methods
Recent progress in randomized motion planners has led to the development...
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Panagiotis Tsiotras
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