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09/19/2023
LEA*: An A* Variant Algorithm with Improved Edge Efficiency for Robot Motion Planning
In this work, we introduce a new graph search algorithm, lazy edged base...
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06/05/2023
Kinodynamic FMT* with Dimensionality Reduction Heuristics and Neural Network Controllers
This paper proposes a new sampling-based kinodynamic motion planning alg...
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05/24/2023
KARNet: Kalman Filter Augmented Recurrent Neural Network for Learning World Models in Autonomous Driving Tasks
Autonomous driving has received a great deal of attention in the automot...
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04/21/2023
IBBT: Informed Batch Belief Trees for Motion Planning Under Uncertainty
In this work, we propose the Informed Batch Belief Trees (IBBT) algorith...
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04/11/2023
Efficient Feature Description for Small Body Relative Navigation using Binary Convolutional Neural Networks
Missions to small celestial bodies rely heavily on optical feature track...
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04/05/2023
Dynamic Adversarial Resource Allocation: the dDAB Game
This work proposes a dynamic and adversarial resource allocation problem...
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03/12/2023
Non-Trivial Query Sampling For Efficient Learning To Plan
In recent years, learning-based approaches have revolutionized motion pl...
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02/23/2023
Shield Model Predictive Path Integral: A Computationally Efficient Robust MPC Approach Using Control Barrier Functions
Model Predictive Path Integral (MPPI) control is a type of sampling-base...
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01/30/2023
Deep Monocular Hazard Detection for Safe Small Body Landing
Hazard detection and avoidance is a key technology for future robotic sm...
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12/03/2022
Probabilistic Verification of ReLU Neural Networks via Characteristic Functions
Verifying the input-output relationships of a neural network so as to ac...
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12/01/2022
AstroSLAM: Autonomous Monocular Navigation in the Vicinity of a Celestial Small Body – Theory and Experiments
We propose AstroSLAM, a standalone vision-based solution for autonomous ...
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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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09/26/2022
Risk-Aware Model Predictive Path Integral Control Using Conditional Value-at-Risk
In this paper, we present a novel Model Predictive Control method for au...
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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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08/08/2022
A Linear Programming Approach for Resource-Aware Information-Theoretic Tree Abstractions
In this chapter, an integer linear programming formulation for the probl...
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08/03/2022
AstroVision: Towards Autonomous Feature Detection and Description for Missions to Small Bodies Using Deep Learning
Missions to small celestial bodies rely heavily on optical feature track...
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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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05/18/2022
CARNet: A Dynamic Autoencoder for Learning Latent Dynamics in Autonomous Driving Tasks
Autonomous driving has received a lot of attention in the automotive ind...
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05/02/2022
Hierarchical Decompositions of Stochastic Pursuit-Evasion Games
In this work we present a hierarchical framework for solving discrete st...
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04/28/2022
Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems
We propose factor graph optimization for simultaneous planning, control,...
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10/14/2021
Shaping Large Population Agent Behaviors Through Entropy-Regularized Mean-Field Games
Mean-field games (MFG) were introduced to efficiently analyze approximat...
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10/01/2021
Batch Belief Trees for Motion Planning Under Uncertainty
In this work, we develop the Batch Belief Trees (BBT) algorithm for moti...
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09/24/2021
Improving Model Predictive Path Integral using Covariance Steering
This paper presents a novel control approach for autonomous systems oper...
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07/02/2021
Accelerating Kinodynamic RRT* Through Dimensionality Reduction
Sampling-based motion planning algorithms such as RRT* are well-known fo...
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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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05/24/2021
Belief Space Planning: A Covariance Steering Approach
A new belief space planning algorithm, called covariance steering Belief...
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03/26/2021
On the Time Discretization of the Feynman-Kac Forward-Backward Stochastic Differential Equations for Value Function Approximation
Novel numerical estimators are proposed for the forward-backward stochas...
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02/25/2021
LES: Locally Exploitative Sampling for Robot Path Planning
Sampling-based algorithms solve the path planning problem by generating ...
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02/21/2021
Multi-Agent Consensus Subject to Communication and Privacy Constraints
We consider a multi-agent consensus problem in the presence of adversari...
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02/19/2021
Information-Theoretic Abstractions for Resource-Constrained Agents via Mixed-Integer Linear Programming
In this paper, a mixed-integer linear programming formulation for the pr...
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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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09/01/2020
Learning Nash Equilibria in Zero-Sum Stochastic Games via Entropy-Regularized Policy Approximation
We explore the use of policy approximation for reducing the computationa...
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06/22/2020
Forward-Backward RRT: Branched Sampled FBSDEs for Stochastic Optimal Control
We propose a numerical method to solve forward-backward stochastic diffe...
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06/18/2020
Apollonius Allocation Algorithm for Heterogeneous Pursuers to Capture Multiple Evaders
In this paper, we address pursuit-evasion problems involving multiple pu...
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05/19/2020
An Information-Theoretic Approach for Path Planning in Agents with Computational Constraints
In this paper, we develop a framework for path-planning on abstractions ...
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04/10/2020
Time-Informed Exploration For Robot Motion Planning
Anytime sampling-based methods are an attractive technique for solving k...
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03/10/2020
GPU Parallelization of Policy Iteration RRT#
Sampling-based planning has become a de facto standard for complex robot...
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02/25/2020
Safe Optimal Control under Parametric Uncertainties
We address the issue of safe optimal path planning under parametric unce...
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10/11/2019
Relevant Region Exploration On General Cost-maps For Sampling-Based Motion Planning
Asymptotically optimal sampling-based planners require an intelligent ex...
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10/08/2019
MAMS-A*: Multi-Agent Multi-Scale A*
We present a multi-scale forward search algorithm for distributed agents...
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09/30/2019
Q-Search Trees: An Information-Theoretic 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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09/29/2019
Vision-Based Autonomous Vehicle Control using the Two-Point Visual Driver Control Model
This work proposes a new self-driving framework that uses a human driver...
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09/10/2018
Optimal Stochastic Vehicle Path Planning Using Covariance Steering
This work addresses the problem of vehicle path planning in the presence...
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06/02/2018
AutoRally An open platform for aggressive autonomous driving
This article presents AutoRally, a 1:5 scale robotics testbed for autono...
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10/22/2017
Hierarchical State Abstractions for Decision-Making Problems with Computational Constraints
In this semi-tutorial paper, we first review the information-theoretic a...
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09/19/2016