19 citations · 24 across the 18 of their papers we have counts for
9 papers · 1 filter
Continuous-Time Gaussian Belief Trees for Motion Planning
Rayan Mazouz, Qi Heng Ho, Zachary N. Sunberg +1
We address sampling-based motion planning for continuous-time stochastic systems under process and measurement uncertainty, with probabilistic guarantees on safety and performance.…
Provably Safe Motion Planning Under Unknown Disturbances
Ibon Gracia, Qi Heng Ho, Luca Laurenti +1
We present a provably safe sampling-based motion planning algorithm for robotic systems affected by random disturbances of unknown distribution. We consider systems with linear or…
Sampling-based Task and Kinodynamic Motion Planning under Semantic Uncertainty
Qi Heng Ho, Zachary N. Sunberg, Morteza Lahijanian
This paper tackles the problem of integrated task and kinodynamic motion planning in uncertain environments. We consider a robot with nonlinear dynamics tasked with a Linear Tempor…
Kino-PAX: Near-Optimal Massively Parallel Kinodynamic Sampling-based Motion Planner
Nicolas Perrault, Qi Heng Ho, Morteza Lahijanian
Sampling-based motion planners (SBMPs) are widely used for robot motion planning with complex kinodynamic constraints in high-dimensional spaces, yet their serial computation desig…
Kino-PAX: Highly Parallel Kinodynamic Sampling-based Planner
Nicolas Perrault, Qi Heng Ho, Morteza Lahijanian
Sampling-based motion planners (SBMPs) are effective for planning with complex kinodynamic constraints in high-dimensional spaces, but they still struggle to achieve real-time perf…
Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals using Simplified Belief Guides
Qi Heng Ho, Zachary N. Sunberg, Morteza Lahijanian
This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to gui…
Chance-Constrained Motion Planning with Event-Triggered Estimation
Anne Theurkauf, Qi Heng Ho, Roland Ilyes +2
We consider the problem of autonomous navigation using limited information from a remote sensor network. Because the remote sensors are power and bandwidth limited, we use event-tr…
Gaussian Belief Trees for Chance Constrained Asymptotically Optimal Motion Planning
Qi Heng Ho, Zachary N. Sunberg, Morteza Lahijanian
In this paper, we address the problem of sampling-based motion planning under motion and measurement uncertainty with probabilistic guarantees. We generalize traditional sampling-b…
Online Multi-Target Tracking for Maneuvering Vehicles in Dynamic Road Context
Zehui Meng, Qi Heng Ho, Zefan Huang +3
Target detection and tracking provides crucial information for motion planning and decision making in autonomous driving. This paper proposes an online multi-object tracking (MOT)…