5 papers
OffRIPP: Offline RL-based Informative Path Planning
Srikar Babu Gadipudi, Srujan Deolasee, Siva Kailas +3
Informative path planning (IPP) is a crucial task in robotics, where agents must design paths to gather valuable information about a target environment while adhering to resource c…
A Depth-Adaptive Filtering Method for Effective GPR Tree Roots Detection in Tropical Area
Wenhao Luo, Yee Hui Lee, Mohamed Lokman Mohd Yusof +1
This study presents a technique for processing Stepfrequency continuous wave (SFCW) ground penetrating radar (GPR) data to detect tree roots. SFCW GPR is portable and enables preci…
Risk-aware Safe Control for Decentralized Multi-agent Systems via Dynamic Responsibility Allocation
Yiwei Lyu, Wenhao Luo, John M. Dolan
Decentralized control schemes are increasingly favored in various domains that involve multi-agent systems due to the need for computational efficiency as well as general applicabi…
Minimally Constrained Multi-Robot Coordination with Line-of-sight Connectivity Maintenance
Yupeng Yang, Yiwei Lyu, Wenhao Luo
In this paper, we consider a team of mobile robots executing simultaneously multiple behaviors by different subgroups, while maintaining global and subgroup line-of-sight (LOS) net…
Sample-efficient Safe Learning for Online Nonlinear Control with Control Barrier Functions
Wenhao Luo, Wen Sun, Ashish Kapoor
Reinforcement Learning (RL) and continuous nonlinear control have been successfully deployed in multiple domains of complicated sequential decision-making tasks. However, given the…