Related papers: Closing the Planning-Learning Loop with Applicatio…

Monte Carlo tree search (MCTS) is one of the most capable online search algorithms for sequential planning tasks, with significant applications in areas such as resource allocation and transit planning. Despite its strong performance in…

Traditional planning and control methods could fail to find a feasible trajectory for an autonomous vehicle to execute amongst dense traffic on roads. This is because the obstacle-free volume in spacetime is very small in these scenarios…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

The fast-growing demand for fully autonomous aerial operations in shared spaces necessitates developing trustworthy agents that can safely and seamlessly navigate in crowded, dynamic spaces. In this work, we propose Social Robot Tree Search…

This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…

Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to…

Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…

Deep reinforcement learning (DRL) allows a system to interact with its environment and take actions by training an efficient policy that maximizes self-defined rewards. In autonomous driving, it can be used as a strategy for high-level…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

Robust and persistent localisation is essential for ensuring the safe operation of autonomous vehicles. When operating in large and diverse urban driving environments, autonomous vehicles are frequently exposed to situations that violate…

Autonomous robots operating in open environments need the ability to continuously handle tasks that are not covered by predefined local methods. However, existing approaches often rely on repeated large-language-model (LLM) interaction for…

The ability of a robot to plan complex behaviors with real-time computation, rather than adhering to predesigned or offline-learned routines, alleviates the need for specialized algorithms or training for each problem instance. Monte Carlo…

This thesis explores the benefits machine learning algorithms can bring to online planning and scheduling for autonomous vehicles in off-road situations. Mainly, we focus on typical problems of interest which include computing itineraries…

Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…

Modern autonomous driving algorithms often rely on learning the mapping from visual inputs to steering actions from human driving data in a variety of scenarios and visual scenes. The required data collection is not only labor intensive,…

The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…