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

Considering uncertainties and disturbances is an important, yet challenging, step in successful decision making. The problem becomes more challenging in safety-constrained environments. In this paper, we propose a robust and safe trajectory…

The integration of Autonomous Vehicles (AVs) into existing human-driven traffic systems poses considerable challenges, especially within environments where human and machine interactions are frequent and complex, such as at unsignalized…

Realistic path planning applications often require optimizing with respect to several criteria simultaneously. Here we introduce an efficient algorithm for bi-criteria path planning on graphs. Our approach is based on augmenting the state…

We study the problem of incorporating risk while making combinatorial decisions under uncertainty. We formulate a discrete submodular maximization problem for selecting a set using Conditional-Value-at-Risk (CVaR), a risk metric commonly…

Game-based interactive driving simulations have emerged as versatile platforms for advancing decision-making algorithms in road transport mobility. While these environments offer safe, scalable, and engaging settings for testing driving…

The computational cost of large-scale multi-agent based simulations (MABS) can be extremely important, especially if simulations have to be monitored for validation purposes. In this paper, two methods, based on self-observation and…

In this paper we show how the combination of Behaviour Tree and Utility Based AI architecture can be used to design more realistic bots for Military Simulators. In this work, we have designed a mathematical model of a simulator system which…

Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a large state space. Trajectory optimisation algorithms have…

In missions constrained by finite resources, efficient data collection is critical. Informative path planning, driven by automated decision-making, optimizes exploration by reducing the costs associated with accurate characterization of a…

We consider risk-averse learning in repeated unknown games where the goal of the agents is to minimize their individual risk of incurring significantly high cost. Specifically, the agents use the conditional value at risk (CVaR) as a risk…

Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which is computationally expensive and not always practical in real…

Automated vehicles (AVs) are tested in diverse scenarios, typically specified by parameters such as velocities, distances, or curve radii. To describe scenarios uniformly independent of such parameters, this paper proposes a vectorized…

Autonomous physical science is revolutionizing materials science. In these systems, machine learning controls experiment design, execution, and analysis in a closed loop. Active learning, the machine learning field of optimal experiment…

Autonomous racing with scaled race cars has gained increasing attention as an effective approach for developing perception, planning and control algorithms for safe autonomous driving at the limits of the vehicle's handling. To train agile…

In this paper we propose an efficient method to compute the price of multi-asset American options, based on Machine Learning, Monte Carlo simulations and variance reduction technique. Specifically, the options we consider are written on a…

A game theoretic distributed decision making approach is presented for the problem of control effort allocation in a robotic team based on a novel variant of fictitious play. The proposed learning process allows the robots to accomplish…

Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…

Given access to accurate dynamical models, modern planning approaches are effective in computing feasible and optimal plans for repetitive robotic tasks. However, it is difficult to model the true dynamics of the real world before…

Manufacturing enterprises are facing a competitive challenge. This paper proposes the use of a value chain based approach to support the modelling and simulation of manufacturing enterprise processes. The aim is to help experts to make…

Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…