2 papers
cs.RO2020
Risk-Aware Planning and Assignment for Ground Vehicles using Uncertain Perception from Aerial Vehicles
Vishnu D. Sharma, Maymoonah Toubeh, Lifeng Zhou +1
We propose a risk-aware framework for multi-robot, multi-demand assignment and planning in unknown environments. Our motivation is disaster response and search-and-rescue scenarios…
cs.LG2019
Risk-Aware Planning by Confidence Estimation using Deep Learning-Based Perception
Maymoonah Toubeh, Pratap Tokekar
This work proposes the use of Bayesian approximations of uncertainty from deep learning in a robot planner, showing that this produces more cautious actions in safety-critical scen…