相关论文: Risk Awareness in HTN Planning

Planning is a pivotal ability of any intelligent system being developed for real-world applications. AI planning is concerned with researching and developing planning systems that automatically compute plans that satisfy some user…

A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion…

Automated Planning is one of the main research field of Artificial Intelligence since its beginnings. Research in Automated Planning aims at developing general reasoners (i.e., planners) capable of automatically solve complex problems.…

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…

Human drivers naturally balance the risks of different concerns while driving, including traffic rule violations, minor accidents, and fatalities. However, achieving the same behavior in autonomous driving systems remains an open problem.…

Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…

In order to cope with the task allocation in national economic mobilization, a task allocation planning method based on Hierarchical Task Network (HTN) for national economic mobilization is proposed. An HTN planning algorithm is designed to…

In environments with increasing uncertainty, such as smart grid applications based on renewable energy, planning can benefit from incorporating forecasts about the uncertainty and from systematically evaluating the utility of the forecast…

Balancing safety and efficiency when planning in dense traffic is challenging. Interactive behavior planners incorporate prediction uncertainty and interactivity inherent to these traffic situations. Yet, their use of single-objective…

Vehicle safety depends on (a) the range of identified hazards and (b) the operational situations for which mitigations of these hazards are acceptably decreasing risk. Moreover, with an increasing degree of autonomy, risk ownership is…

Autonomous systems, like vehicles or robots, require reliable, accurate, fast, resource-efficient, scalable, and low-latency trajectory predictions to get initial knowledge about future locations and movements of surrounding objects for…

Many planning techniques have been developed to allow autonomous systems to act and make decisions based on their perceptions of the environment. Among these techniques, HTN ({\it Hierarchical Task Network}) planning is one of the most used…

The ability to accurately predict others' behavior is central to the safety and efficiency of interactive robotics. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as other agents'…

Safe autonomous exploration of unknown environments is an essential skill for mobile robots to effectively and adaptively perform environmental mapping for diverse critical tasks. Due to its simplicity, most existing exploration methods…

Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles.…

Reliable automated driving technology is challenged by various sources of uncertainties, in particular, behavioral uncertainties of traffic agents. It is common for traffic agents to have intentions that are unknown to others, leaving an…

The uncertainty quantification and risk modeling are hot topics in the operation and planning of energy systems. The system operators and planners are decision-makers that need to handle the uncertainty of input data of their models. As an…

As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…

We address the task of long-horizon navigation in partially mapped environments for which active gathering of information about faraway unseen space is essential for good behavior. We present a novel planning strategy that, at training…

We present a risk-aware formalism for evaluating system trajectories in the presence of uncertain interactions between the system and its environment. The proposed formalism supports reasoning under uncertainty and systematically handles…