20 citations · 105 across the 42 of their papers we have counts for
45 papers
Adaptation and Communication in Human-Robot Teaming to Handle Discrepancies in Agents' Beliefs about Plans
Yuening Zhang, Brian C. Williams
When agents collaborate on a task, it is important that they have some shared mental model of the task routines -- the set of feasible plans towards achieving the goals. However, i…
Convex Risk Bounded Continuous-Time Trajectory Planning and Tube Design in Uncertain Nonconvex Environments
Ashkan Jasour, Weiqiao Han, Brian Williams
In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geome…
Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives
Weiqiao Han, Ashkan Jasour, Brian Williams
We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and…
Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems
Weiqiao Han, Ashkan Jasour, Brian Williams
In this paper, we consider the closed-loop control problem of nonlinear robotic systems in the presence of probabilistic uncertainties and disturbances. More precisely, we design a…
Chance-Constrained Trajectory Optimization for High-DOF Robots in Uncertain Environments
Charles Dawson, Ashkan Jasour, Andreas Hofmann +1
Many practical applications of robotics require systems that can operate safely despite uncertainty. In the context of motion planning, two types of uncertainty are particularly im…
P4P: Conflict-Aware Motion Prediction for Planning in Autonomous Driving
Qiao Sun, Xin Huang, Brian C. Williams +1
Motion prediction is crucial in enabling safe motion planning for autonomous vehicles in interactive scenarios. It allows the planner to identify potential conflicts with other tra…