相关论文: Partially Observable Task and Motion Planning with…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…

Autonomous agents are limited in their ability to observe the world state. Partially observable Markov decision processes (POMDPs) formally model the problem of planning under world state uncertainty, but POMDPs with continuous actions and…

Decision-making under uncertainty is a crucial ability for autonomous systems. In its most general form, this problem can be formulated as a Partially Observable Markov Decision Process (POMDP). The solution policy of a POMDP can be…

In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…

Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…

Ensuring safe behavior for automated vehicles in unregulated traffic areas poses a complex challenge for the industry. It is an open problem to provide scalable and certifiable solutions to this challenge. We derive a trajectory planner…

Current robotic planning methods often rely on predicting multi-frame images with full pixel details. While this fine-grained approach can serve as a generic world model, it introduces two significant challenges for downstream policy…

In order to ensure the robust actuation of a plan, execution must be adaptable to unexpected situations in the world and to exogenous events. This is critical in domains in which committing to a wrong ordering of actions can cause the plan…

Autonomous Valet Parking (AVP) requires planning under partial observability, where parking spot availability evolves as dynamic agents enter and exit spots. Existing approaches either rely only on instantaneous spot availability or make…

Simultaneous localization and Planning (SLAP) is a crucial ability for an autonomous robot operating under uncertainty. In its most general form, SLAP induces a continuous POMDP (partially-observable Markov decision process), which needs to…

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…

This paper considers the motion control and task planning problem of mobile robots under complex high-level tasks and human initiatives. The assigned task is specified as Linear Temporal Logic (LTL) formulas that consist of hard and soft…

This paper proposes a formal robot motion risk reasoning framework and develops a risk-aware path planner that minimizes the proposed risk. While robots locomoting in unstructured or confined environments face a variety of risk, existing…

The complexity of the operating environment and required technologies for highly automated driving is unprecedented. A different type of threat to safe operation besides the fault-error-failure model by Laprie et al. arises in the form of…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

Planning under uncertainty is critical to robotics. The Partially Observable Markov Decision Process (POMDP) is a mathematical framework for such planning problems. It is powerful due to its careful quantification of the non-deterministic…

Multi-agent motion planning (MAMP) is an important problem for autonomous systems with multiple agents. In this work we propose a two-step method for finding optimized and kinematically feasible solutions to MAMP problems. The first step…

Identifying algorithms that flexibly and efficiently discover temporally-extended multi-phase plans is an essential step for the advancement of robotics and model-based reinforcement learning. The core problem of long-range planning is…