4 papers · 1 filter
Online Navigation Planning for Long-term Autonomous Operation of Underwater Gliders
Victor-Alexandru Darvariu, Charlotte Z. Reed, Jan Stratmann +21
Underwater glider robots have become indispensable for ocean sampling, yet fully autonomous long-term operation remains rare in practice. Although stakeholders are calling for tool…
A Finite-State Controller Based Offline Solver for Deterministic POMDPs
Alex Schutz, Yang You, Matias Mattamala +3
Deterministic partially observable Markov decision processes (DetPOMDPs) often arise in planning problems where the agent is uncertain about its environmental state but can act and…
Risk-Aware Motion Planning in Partially Known Environments
Fernando S. Barbosa, Bruno Lacerda, Paul Duckworth +2
Recent trends envisage robots being deployed in areas deemed dangerous to humans, such as buildings with gas and radiation leaks. In such situations, the model of the underlying ha…
Active Inference for Integrated State-Estimation, Control, and Learning
Mohamed Baioumy, Paul Duckworth, Bruno Lacerda +1
This work presents an approach for control, state-estimation and learning model (hyper)parameters for robotic manipulators. It is based on the active inference framework, prominent…