相关论文: Vector Cost Behavioral Planning for Autonomous Rob…

We study repeated multi-player vector-valued games in which a player observes a payoff vector each round and evaluates outcomes through linear scalarizations of those vectors. Different from most prior works, the choice of scalarization is…

When designing a motion planner for autonomous robots there are usually multiple objectives to be considered. However, a cost function that yields the desired trade-off between objectives is not easily obtainable. A common technique across…

Path planning plays an essential role in many areas of robotics. Various planning techniques have been presented, either focusing on learning a specific task from demonstrations or retrieving trajectories by optimizing for hand-crafted cost…

In this work we introduce an implementation for which machine learning techniques helped improve the overall performance of an evolutionary algorithm for an optimization problem, namely a variation of robust minimum-cost path in graphs. In…

Behavior planning and decision-making are some of the biggest challenges for highly automated systems. A fully automated vehicle (AV) is confronted with numerous tactical and strategical choices. Most state-of-the-art AV platforms implement…

Solving multi-objective optimization problems is important in various applications where users are interested in obtaining optimal policies subject to multiple, yet often conflicting objectives. A typical approach to obtain optimal policies…

We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…

Autonomous multi-agent systems such as hospital robots and package delivery drones often operate in highly uncertain environments and are expected to achieve complex temporal task objectives while ensuring safety. While learning-based…

As the rapid proliferation of AI systems and harms spurs efforts in AI governance around the world, prioritizing among competing policy options has become increasingly challenging for policymakers and researchers. We introduce a methodology…

This paper presents VBMO, the Voting-Based Multi-Objective path planning algorithm, that generates optimal single-objective plans, evaluates each of them with respect to the other objectives, and selects one with a voting mechanism. VBMO…

This study presents the vectorization of metaheuristic algorithms as the first stage of vectorized optimization implementation. Vectorization is a technique for converting an algorithm, which operates on a single value at a time to one that…

Information about action costs is critical for real-world AI planning applications. Rather than rely solely on declarative action models, recent approaches also use black-box external action cost estimators, often learned from data, that…

We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…

This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…

Rapid development of advanced modelling techniques gives an opportunity to develop tools that are more and more accurate. However as usually, everything comes with a price and in this case, the price to pay is to loose interpretability of a…

The ability to plan actions on multiple levels of abstraction enables intelligent agents to solve complex tasks effectively. However, learning the models for both low and high-level planning from demonstrations has proven challenging,…

Autonomous drone racing in complex environments requires agile, high-speed flight while maintaining reliable obstacle avoidance. Differentiable-physics-based policy learning has recently demonstrated high sample efficiency and remarkable…

The safe operation of an autonomous system is a complex endeavor, one pivotal element being its decision-making. Decision-making logic can formally be analyzed using model checking or other formal verification approaches. Yet, the…

While many multi-robot coordination problems can be solved optimally by exact algorithms, solutions are often not scalable in the number of robots. Multi-Agent Reinforcement Learning (MARL) is gaining increasing attention in the robotics…

Autonomous driving has been the subject of increased interest in recent years both in industry and in academia. Serious efforts are being pursued to address legal, technical and logistical problems and make autonomous cars a viable option…