3 papers
cs.RO2025
Limits of specifiability for sensor-based robotic planning tasks
Basak Sakcak, Dylan A. Shell, Jason M. O'Kane
There is now a large body of techniques, many based on formal methods, for describing and realizing complex robotics tasks, including those involving a variety of rich goals and ti…
cs.RO2024
A fixed-parameter tractable algorithm for combinatorial filter reduction
Yulin Zhang, Dylan A. Shell
What is the minimal information that a robot must retain to achieve its task? To design economical robots, the literature dealing with reduction of combinatorial filters approaches…
cs.RO2024
A Model for Optimal Resilient Planning Subject to Fallible Actuators
Kyle Baldes, Diptanil Chaudhuri, Jason M. O'Kane +1
Robots incurring component failures ought to adapt their behavior to best realize still-attainable goals under reduced capacity. We formulate the problem of planning with actuators…