17 citations · 20 across the 4 of their papers we have counts for
4 papers
Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments
Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown +2
We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global react…
Admissible Abstractions for Near-optimal Task and Motion Planning
William Vega-Brown, Nicholas Roy
We define an admissibility condition for abstractions expressed using angelic semantics and show that these conditions allow us to accelerate planning while preserving the ability…
Technical Report: Sensor-Based Reactive Symbolic Planning in Partially Known Environments
Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan +2
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that sat…
PROBE-GK: Predictive Robust Estimation using Generalized Kernels
Valentin Peretroukhin, William Vega-Brown, Nicholas Roy +1
Many algorithms in computer vision and robotics make strong assumptions about uncertainty, and rely on the validity of these assumptions to produce accurate and consistent state es…