相关论文: Improved Safe Real-time Heuristic Search

We develop a new Location Verification System (LVS) focussed on network-based Intelligent Transport Systems and vehicular ad hoc networks. The algorithm we develop is based on an information-theoretic framework which uses the received…

The widespread deployment of LLM-based agents is likely to introduce a critical privacy threat: malicious agents that proactively engage others in multi-turn interactions to extract sensitive information. However, the evolving nature of…

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…

We consider an agent seeking to obtain an item, potentially available at different locations in a physical environment. The traveling costs between locations are known in advance, but there is only probabilistic knowledge regarding the…

This paper considers a problem of planning an attack in robotic football (RoboCup). The problem is reduced to finding a trajectory of the ball from its current position to the opponents goals. Heuristic search algorithm, i.e. A*, is used to…

Active search refers to the problem of efficiently locating targets in an unknown environment by actively making data-collection decisions, and has many applications including detecting gas leaks, radiation sources or human survivors of…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

Real-Time systems are essential for promptly responding to external stimuli and completing tasks within predefined time constraints. Ensuring high reliability and robust security in these systems is therefore critical. This requires…

Expected-time mobile search (ETS) is a fundamental robotics task where a mobile sensor navigates an environment to minimize the expected time required to locate a hidden object. Global route optimization for ETS in static 2D continuous…

Informed sampling techniques accelerate the convergence of sampling-based motion planners by biasing sampling toward regions of the state space that are most likely to yield better solutions. However, when the current solution path contains…

Carpooling, or sharing a ride with other passengers, holds immense potential for urban transportation. Ridesharing platforms enable such sharing of rides using real-time data. Finding ride matches in real-time at urban scale is a difficult…

Safe navigation in cluttered environments is an important challenge for autonomous systems. Robots navigating through obstacle ridden scenarios need to be able to navigate safely in the presence of obstacles, goals, and ego objects of…

Optimization-based controller tuning is challenging because it requires formulating optimization problems explicitly as functions of controller parameters. Safe learning algorithms overcome the challenge by creating surrogate models from…

Density of the reachable states can help understand the risk of safety-critical systems, especially in situations when worst-case reachability is too conservative. Recent work provides a data-driven approach to compute the density…

In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…

Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality and theoretical guarantees when…

The dominant trackers generate a fixed-size rectangular region based on the previous prediction or initial bounding box as the model input, i.e., search region. While this manner obtains promising tracking efficiency, a fixed-size search…

Safety guarantees are a prerequisite to the deployment of reinforcement learning (RL) agents in safety-critical tasks. Often, deployment environments exhibit non-stationary dynamics or are subject to changing performance goals, requiring…

This paper presents a non-manual design engineering method based on heuristic search algorithm to search for candidate agents in the solution space which formed by artificial intelligence agents modeled on the base of bionics.Compared with…

In privacy-preserving multi-agent planning, a group of agents attempt to cooperatively solve a multi-agent planning problem while maintaining private their data and actions. Although much work was carried out in this area in past years, its…