54 citations · 177 across the 51 of their papers we have counts for
18 papers · 1 filter
Multi-Objective Kinodynamic Motion Planning with Asymptotic Pareto Optimality
Yusif Razzaq, Anne Theurkauf, Nisar Ahmed +1
In this paper, we address the challenge of multi-objective motion planning for systems under kinodynamic constraints. We consider three problem classes: (i) lexicographic optimizat…
Extended Version: Multi-Robot Motion Planning with Cooperative Localization
Anne Theurkauf, Nisar Ahmed, Morteza Lahijanian
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a…
Falsification of Autonomous Systems in Rich Environments
Khen Elimelech, Morteza Lahijanian, Lydia E. Kavraki +1
Validating the behavior of autonomous Cyber-Physical Systems (CPS) and Artificial Intelligence (AI) agents, which rely on automated controllers, is an objective of great importance…
Online Pareto-Optimal Decision-Making for Complex Tasks using Active Inference
Peter Amorese, Shohei Wakayama, Nisar Ahmed +1
When a robot autonomously performs a complex task, it frequently must balance competing objectives while maintaining safety. This becomes more difficult in uncertain environments w…
Piecewise Stochastic Barrier Functions
Rayan Mazouz, Frederik Baymler Mathiesen, Luca Laurenti +1
This paper presents a novel stochastic barrier function (SBF) framework for safety analysis of stochastic systems based on piecewise (PW) functions. We first outline a general form…
Stochastic Games for Interactive Manipulation Domains
Karan Muvvala, Andrew M. Wells, Morteza Lahijanian +2
As robots become more prevalent, the complexity of robot-robot, robot-human, and robot-environment interactions increases. In these interactions, a robot needs to consider not only…
Introducing Delays in Multi-Agent Path Finding
Justin Kottinger, Tzvika Geft, Shaull Almagor +2
We consider a Multi-Agent Path Finding (MAPF) setting where agents have been assigned a plan, but during its execution some agents are delayed. Instead of replanning from scratch w…
Optimal Cost-Preference Trade-off Planning with Multiple Temporal Tasks
Peter Amorese, Morteza Lahijanian
Autonomous robots are increasingly utilized in realistic scenarios with multiple complex tasks. In these scenarios, there may be a preferred way of completing all of the given task…
Chance-Constrained Multi-Robot Motion Planning under Gaussian Uncertainties
Anne Theurkauf, Justin Kottinger, Nisar Ahmed +1
We consider a chance-constrained multi-robot motion planning problem in the presence of Gaussian motion and sensor noise. Our proposed algorithm, CC-K-CBS, leverages the scalabilit…
Efficient Symbolic Approaches for Quantitative Reactive Synthesis with Finite Tasks
Karan Muvvala, Morteza Lahijanian
This work introduces efficient symbolic algorithms for quantitative reactive synthesis. We consider resource-constrained robotic manipulators that need to interact with a human to…
Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals using Simplified Belief Guides
Qi Heng Ho, Zachary N. Sunberg, Morteza Lahijanian
This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to gui…
Chance-Constrained Motion Planning with Event-Triggered Estimation
Anne Theurkauf, Qi Heng Ho, Roland Ilyes +2
We consider the problem of autonomous navigation using limited information from a remote sensor network. Because the remote sensors are power and bandwidth limited, we use event-tr…
Conflict-based Search for Multi-Robot Motion Planning with Kinodynamic Constraints
Justin Kottinger, Shaull Almagor, Morteza Lahijanian
Multi-robot motion planning (MRMP) is the fundamental problem of finding non-colliding trajectories for multiple robots acting in an environment, under kinodynamic constraints. Due…
Let's Collaborate: Regret-based Reactive Synthesis for Robotic Manipulation
Karan Muvvala, Peter Amorese, Morteza Lahijanian
As robots gain capabilities to enter our human-centric world, they require formalism and algorithms that enable smart and efficient interactions. This is challenging, especially fo…
Gaussian Belief Trees for Chance Constrained Asymptotically Optimal Motion Planning
Qi Heng Ho, Zachary N. Sunberg, Morteza Lahijanian
In this paper, we address the problem of sampling-based motion planning under motion and measurement uncertainty with probabilistic guarantees. We generalize traditional sampling-b…
MAPS-X: Explainable Multi-Robot Motion Planning via Segmentation
Justin Kottinger, Shaull Almagor, Morteza Lahijanian
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajector…
Online Mapping and Motion Planning under Uncertainty for Safe Navigation in Unknown Environments
Èric Pairet, Juan David Hernández, Marc Carreras +2
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only…
Resource-Performance Trade-off Analysis for Mobile Robot Design
Morteza Lahijanian, Maria Svorenova, Akshay A. Morye +6
The design of mobile autonomous robots is challenging due to the limited on-board resources such as processing power and energy. A promising approach is to generate intelligent sch…