26 citations · 87 across the 9 of their papers we have counts for
11 papers
Learning to Play Cup-and-Ball with Noisy Camera Observations
Monimoy Bujarbaruah, Tony Zheng, Akhil Shetty +2
Playing the cup-and-ball game is an intriguing task for robotics research since it abstracts important problem characteristics including system nonlinearity, contact forces and pre…
Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning
Kyle Brown, Oriana Peltzer, Martin A. Sehr +2
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task and t…
Industrial Control via Application Containers:Maintaining determinism in IAAS
Florian Hofer, Martin Sehr, Alberto Sangiovanni-Vincentelli +1
Industry 4.0 is changing fundamentally data collection, its storage and analysis in industrial processes, enabling novel application such as flexible manufacturing of highly custom…
Information-Collection in Robotic Process Monitoring: An Active Perception Approach
Martin A. Sehr, Wei Xi Xia, Prithvi Akella +2
Active perception systems maximizing information gain to support both monitoring and decision making have seen considerable application in recent work. In this paper, we propose an…
STT-CBS: A Conflict-Based Search Algorithm for Multi-Agent Path Finding with Stochastic Travel Times
Oriana Peltzer, Kyle Brown, Mac Schwager +2
We present an algorithm for finding optimal paths for multiple stochastic agents in a graph to reach their destinations with a user-specified maximum pairwise collision probability…
ODRE Workshop: Probabilistic Dynamic Hard Real-Time Scheduling in HPC
Florian Hofer, Martin A. Sehr, Alberto Sangiovanni-Vincentelli +1
Industry 4.0 is changing fundamentally the way data is collected, stored and analyzed in industrial processes. While this change enables novel application such as flexible manufact…
Industrial Control via Application Containers: Migrating from Bare-Metal to IAAS
Florian Hofer, Martin A. Sehr, Antonio Iannopollo +3
We explore the challenges and opportunities of shifting industrial control software from dedicated hardware to bare-metal servers or cloud computing platforms using off the shelf t…
Stochastic Model Predictive Control: Output-Feedback, Duality and Guaranteed Performance
Martin A Sehr, Robert R Bitmead
A new formulation of Stochastic Model Predictive Output Feedback Control is presented and analyzed as a translation of Stochastic Optimal Output Feedback Control into a receding ho…
Performance of Model Predictive Control of POMDPs
Martin A. Sehr, Robert R. Bitmead
We revisit closed-loop performance guarantees for Model Predictive Control in the deterministic and stochastic cases, which extend to novel performance results applicable to recedi…
Tractable Dual Optimal Stochastic Model Predictive Control: An Example in Healthcare
Martin A. Sehr, Robert R. Bitmead
Output-Feedback Stochastic Model Predictive Control based on Stochastic Optimal Control for nonlinear systems is computationally intractable because of the need to solve a Finite H…
Particle Model Predictive Control: Tractable Stochastic Nonlinear Output-Feedback MPC
Martin A. Sehr, Robert R. Bitmead
We combine conditional state density construction with an extension of the Scenario Approach for stochastic Model Predictive Control to nonlinear systems to yield a novel particle-…