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cs.RO2020
High-Speed Robot Navigation using Predicted Occupancy Maps
Kapil D. Katyal, Adam Polevoy, Joseph Moore +2
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottl…
cs.RO2020
Planning with Learned Dynamics: Probabilistic Guarantees on Safety and Reachability via Lipschitz Constants
Craig Knuth, Glen Chou, Necmiye Ozay +1
We present a method for feedback motion planning of systems with unknown dynamics which provides probabilistic guarantees on safety, reachability, and goal stability. To find a dom…
cs.RO2020
Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations
Craig Knuth, Glen Chou, Necmiye Ozay +1
Many methods in learning from demonstration assume that the demonstrator has knowledge of the full environment. However, in many scenarios, a demonstrator only sees part of the env…