相关论文: Preprint: Exploring Inevitable Waypoints for Unsol…

In this paper, we provide a comprehensive outline of the different threads of work in Explainable AI Planning (XAIP) that has emerged as a focus area in the last couple of years and contrast that with earlier efforts in the field in terms…

This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…

Human trajectory forecasting is an inherently multi-modal problem. Uncertainty in future trajectories stems from two sources: (a) sources that are known to the agent but unknown to the model, such as long term goals and (b)sources that are…

We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…

Machine learning researchers and practitioners steadily enlarge the multitude of successful learning models. They achieve this through in-depth theoretical analyses and experiential heuristics. However, there is no known general-purpose…

We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…

This paper introduces the notion of a universal plan, which when executed, is guaranteed to solve all planning problems in a category, regardless of the obstacles, initial state, and goal set. Such plans are specified as a deterministic…

We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on…

Explainable AI aims to render model behavior understandable by humans, which can be seen as an intermediate step in extracting causal relations from correlative patterns. Due to the high risk of possible fatal decisions in image-based…

This paper studies how uncertainty about problem difficulty shapes problem-solving strategies. I develop a dynamic model where an agent solves a problem by brainstorming approaches of unknown quality and allocating a fixed effort budget…

A major challenge in research involving artificial intelligence (AI) is the development of algorithms that can find solutions to problems that can generalize to different environments and tasks. Unlike AI, humans are adept at finding…

Objective: This paper proposes a framework to support the scientific research of standards so that they can be better measured, evaluated, and designed. Methods: Beginning with the notion of common models, the framework describes the…

This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…

Multiagent planning and coordination problems are common and known to be computationally hard. We show that a wide range of two-agent problems can be formulated as bilinear programs. We present a successive approximation algorithm that…

The interest in explainability in artificial intelligence (AI) is growing vastly due to the near ubiquitous state of AI in our lives and the increasing complexity of AI systems. Answer-set Programming (ASP) is used in many areas, among them…

Automated Vehicles require exhaustive testing in simulation to detect as many safety-critical failures as possible before deployment on public roads. In this work, we focus on the core decision-making component of autonomous robots: their…

In research of manufacturing systems and autonomous robots, the term capability is used for a machine-interpretable specification of a system function. Approaches in this research area develop information models that capture all information…

Planning is a crucial element of both human intelligence and contemporary large language models (LLMs). In this paper, we initiate a theoretical investigation into the emergence of planning capabilities in Transformer-based LLMs via their…

This work uses visual knowledge discovery in parallel coordinates to advance methods of interpretable machine learning. The graphic data representation in parallel coordinates made the concepts of hypercubes and hyperblocks (HBs) simple to…

With the growing capabilities of intelligent systems, the integration of robots in our everyday life is increasing. However, when interacting in such complex human environments, the occasional failure of robotic systems is inevitable. The…