8 papers
Minimum-Time Escape from a Circular Region for a Dubins Car
Timothy L. Molloy, Iman Shames
We investigate the problem of finding paths that enable a robot modeled as a Dubins car (i.e., a constant-speed finite-turn-rate unicycle) to escape from a circular region of space…
Active Trajectory Estimation for Partially Observed Markov Decision Processes via Conditional Entropy
Timothy L. Molloy, Girish N. Nair
In this paper, we consider the problem of controlling a partially observed Markov decision process (POMDP) in order to actively estimate its state trajectory over a fixed horizon w…
Smoothing-Averse Control: Covertness and Privacy from Smoothers
Timothy L. Molloy, Girish N. Nair
In this paper we investigate the problem of controlling a partially observed stochastic dynamical system such that its state is difficult to infer using a (fixed-interval) Bayesian…
Intelligent Reference Curation for Visual Place Recognition via Bayesian Selective Fusion
Timothy L. Molloy, Tobias Fischer, Michael Milford +1
A key challenge in visual place recognition (VPR) is recognizing places despite drastic visual appearance changes due to factors such as time of day, season, weather or lighting co…
Online Inverse Optimal Control for Control-Constrained Discrete-Time Systems on Finite and Infinite Horizons
Timothy L. Molloy, Jason J. Ford, Tristan Perez
In this paper, we consider the problem of computing parameters of an objective function for a discrete-time optimal control problem from state and control trajectories with active…
Misspecified and Asymptotically Minimax Robust Quickest Change Diagnosis
Timothy L. Molloy
The problem of quickly diagnosing an unknown change in a stochastic process is studied. We establish novel bounds on the performance of misspecified diagnosis algorithms designed f…