相关论文: Finding plans subject to stipulations on what info…

For robots acting in the presence of observers, we examine the information that is divulged if the observer is party to the robot's plan. Privacy constraints are specified as the stipulations on what can be inferred during plan execution.…

Qualitative opacity of a secret is a security property, which means that a system trajectory satisfying the secret is observation-equivalent to a trajectory violating the secret. In this paper, we study how to synthesize a control policy…

We study planning problems faced by robots operating in uncertain environments with incomplete knowledge of state, and actions that are noisy and/or imprecise. This paper identifies a new problem sub-class that models settings in which…

Covert planning refers to a class of constrained planning problems where an agent aims to accomplish a task with minimal information leaked to a passive observer to avoid detection. However, existing methods of covert planning often…

In order to be useful in the real world, AI agents need to plan and act in the presence of others, who may include adversarial and cooperative entities. In this paper, we consider the problem where an autonomous agent needs to act in a…

Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add…

The hidden-action model captures a fundamental problem of principal-agent theory and provides an optimal sharing rule when only the outcome but not the effort can be observed. However, the hidden-action model builds on various explicit and…

This paper addresses two classes of different, yet interrelated optimization problems. The first class of problems involves a robot that must locate a hidden target in an environment that consists of a set of concurrent rays. The second…

Visualizing data often entails data transformations that can reveal and hide information, operations we dub disclosure tactics. Whether designers hide information intentionally or as an implicit consequence of other design choices, tools…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

Intelligent robots need to generate and execute plans. In order to deal with the complexity of real environments, planning makes some assumptions about the world. When executing plans, the assumptions are usually not met. Most works have…

In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…

When a robot is asked to verbalize its plan it can do it in many ways. For example, a seemingly natural strategy is incremental, where the robot verbalizes its planned actions in plan order. However, an important aspect of this type of…

Data integration systems allow users to access data sitting in multiple sources by means of queries over a global schema, related to the sources via mappings. Data sources often contain sensitive information, and thus an analysis is needed…

Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose…

Robot planning is the process of selecting a sequence of actions that optimize for a task specific objective. The optimal solutions to such tasks are heavily influenced by the implicit structure in the environment, i.e. the configuration of…

A policymaker discloses public information to interacting agents who also acquire costly private information. More precise public information reduces the precision and cost of acquired private information. Considering this effect, what…

An important class of applications entails a robot monitoring, scrutinizing, or recording the evolution of an uncertain time-extended process. This sort of situation leads an interesting family of planning problems in which the robot is…

Whether a robot can perform some specific task depends on several aspects, including the robot's sensors and the plans it possesses. We are interested in search algorithms that treat plans and sensor designs jointly, yielding…

We study optimal information provision in transportation networks when users are strategic and the network state is uncertain. An omniscient planner observes the network state and discloses information to the users with the goal of…