Related papers: Finding plans subject to stipulations on what info…
We consider scenarios where a ground vehicle plans its path using data gathered by an aerial vehicle. In the aerial images, navigable areas of the scene may be occluded due to obstacles. Naively planning paths using aerial images may result…
Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semantics and continuous…
Data communication entails ethical dilemmas where situational constraints forbid full disclosure of source data. Whereas visualization research and pedagogy often frames ethics as a matter of individuals making deceptive design choices or…
Mutual understanding of artificial agents' decisions is key to ensuring a trustworthy and successful human-robot interaction. Hence, robots are expected to make reasonable decisions and communicate them to humans when needed. In this…
We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
We address the manipulation task of retrieving a target object from a cluttered shelf. When the target object is hidden, the robot must search through the clutter for retrieving it. Solving this task requires reasoning over the likely…
Concealing an intermediate point on a route or visible from a route is an important goal in some transportation and surveillance scenarios. This paper studies the Transit Obfuscation Problem, the problem of traveling from some start…
Recent trends envisage robots being deployed in areas deemed dangerous to humans, such as buildings with gas and radiation leaks. In such situations, the model of the underlying hazardous process might be unknown to the agent a priori,…
Many methods in learning from demonstration assume that the demonstrator has knowledge of the full environment. However, in many scenarios, a demonstrator only sees part of the environment and they continuously replan as they gather…
Motion planners take uncertain information about the environment as an input. The environment information is often quite noisy and has a tendency to contain false positive object detection. State-of-the-art motion planners consider all…
Similar to what happens between humans in the real world, in open multi-agent systems distributed over the Internet, such as online social networks or wiki technologies, agents often form coalitions by agreeing to act as a whole in order to…
Applications of machine learning tools to problems of physical interest are often criticized for producing sensitivity at the expense of transparency. To address this concern, we explore a data planing procedure for identifying combinations…
In this paper, we describe a representation for spatial information, called the stochastic map, and associated procedures for building it, reading information from it, and revising it incrementally as new information is obtained. The map…
Adoption and deployment of robotic and autonomous systems in industry are currently hindered by the lack of transparency, required for safety and accountability. Methods for providing explanations are needed that are agnostic to the…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
Recently, privacy issues in web services that rely on users' personal data have raised great attention. Unlike existing privacy-preserving technologies such as federated learning and differential privacy, we explore another way to mitigate…
An important feature of pervasive, intelligent assistance systems is the ability to dynamically adapt to the current needs of their users. Hence, it is critical for such systems to be able to recognize those goals and needs based on…
Consider a pair of random variables $(X,Y)$ distributed according to a given joint distribution $p_{XY}$. A curator wishes to maximally disclose information about $Y$, while limiting the information leakage incurred on $X$. Adopting mutual…
Security researchers are interested in security vulnerabilities, but these security vulnerabilities create risks for stakeholders. Coordinated Vulnerability Disclosure has been an accepted best practice for many years in disclosing newly…