19 citations · 24 across the 18 of their papers we have counts for
5 papers · 1 filter
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…
Stochastic Robustness Interval for Motion Planning with Signal Temporal Logic
Roland B. Ilyes, Qi Heng Ho, Morteza Lahijanian
In this work, we present a novel robustness measure for continuous-time stochastic trajectories with respect to Signal Temporal Logic (STL) specifications. We show the soundness of…
Automaton-Guided Control Synthesis for Signal Temporal Logic Specifications
Qi Heng Ho, Roland B. Ilyes, Zachary N. Sunberg +1
This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorit…
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…