相关论文: Online Risk-Bounded Motion Planning for Autonomous…

We consider partially observable Markov decision processes (POMDPs) modeling an agent that needs a supply of a certain resource (e.g., electricity stored in batteries) to operate correctly. The resource is consumed by agent's actions and…

Planning robust executions under uncertainty is a fundamental challenge for building autonomous robots. Partially Observable Markov Decision Processes (POMDPs) provide a standard framework for modeling uncertainty in many applications. In…

Many processes, such as discrete event systems in engineering or population dynamics in biology, evolve in discrete space and continuous time. We consider the problem of optimal decision making in such discrete state and action space…

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…

Our goal is to enable robots to plan sequences of tabletop actions to push a block with unknown physical properties to a desired goal pose. We approach this problem by learning the constituent models of a Partially-Observable Markov…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

Understanding the intention of vehicles in the surrounding traffic is crucial for an autonomous vehicle to successfully accomplish its driving tasks in complex traffic scenarios such as highway forced merging. In this paper, we consider a…

In many applications of social navigation, existing works have shown that predicting and reasoning about human intentions can help robotic agents make safer and more socially acceptable decisions. In this work, we study this problem for…

This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…

Partially Observable Markov Decision Processes (POMDPs) are a powerful framework for planning under uncertainty. They allow to model state uncertainty as a belief probability distribution. Approximate solvers based on Monte Carlo sampling…

This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel…

For heterogeneous unmanned systems composed of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), using UAVs serve as eyes to assist UGVs in motion planning is a promising research direction due to the UAVs' vast view…

Predicting driver intentions is a difficult and crucial task for advanced driver assistance systems. Traditional confidence measures on predictions often ignore the way predicted trajectories affect downstream decisions for safe driving. In…

This paper aims to implement Object-Oriented Markov Decision Process (OO-MDPs) for goal planning and navigation of robot in an indoor environment. We use the OO-MDP representation of the environment which is a natural way of modeling the…

This paper studies the synthesis of a joint control and active perception policy for a stochastic system modeled as a partially observable Markov decision process (POMDP), subject to temporal logic specifications. The POMDP actions…

Game-theoretic motion planners are a potent solution for controlling systems of multiple highly interactive robots. Most existing game-theoretic planners unrealistically assume a priori objective function knowledge is available to all…

Considerable research efforts have been devoted to the development of motion planning algorithms, which form a cornerstone of the autonomous driving system (ADS). Nonetheless, acquiring an interactive and secure trajectory for the ADS…

Rather than augmenting rewards with penalties for undesired behavior, Constrained Partially Observable Markov Decision Processes (CPOMDPs) plan safely by imposing inviolable hard constraint value budgets. Previous work performing online…

The threats posed by evolving cyberattacks have led to increased research related to software systems that can self-protect. One topic in this domain is Moving Target Defense (MTD), which changes software characteristics in the protected…

Motion planning is a critical module in autonomous driving, with the primary challenge of uncertainty caused by interactions with other participants. As most previous methods treat prediction and planning as separate tasks, it is difficult…