40 citations · 73 across the 13 of their papers we have counts for
6 papers · 1 filter
Actor-Critic Cooperative Compensation to Model Predictive Control for Off-Road Autonomous Vehicles Under Unknown Dynamics
Prakhar Gupta, Jonathon M Smereka, Yunyi Jia
This study presents an Actor-Critic Cooperative Compensated Model Predictive Controller (AC3MPC) designed to address unknown system dynamics. To avoid the difficulty of modeling hi…
Reinforcement Learning Compensated Model Predictive Control for Off-road Driving on Unknown Deformable Terrain
Prakhar Gupta, Jonathon M. Smereka, Yunyi Jia
This study presents an Actor-Critic reinforcement learning Compensated Model Predictive Controller (AC2MPC) designed for high-speed, off-road autonomous driving on deformable terra…
Trust-based Symbolic Motion Planning for Multi-robot Bounding Overwatch
Huanfei Zheng, Jonathon M. Smereka, Dariusz Mikulski +2
Multi-robot bounding overwatch requires timely coordination of robot team members. Symbolic motion planning (SMP) can provide provably correct solutions for robot motion planning w…
Bayesian Optimization Based Trustworthiness Model for Multi-robot Bounding Overwatch
Huanfei Zheng, Jonathon M. Smereka, Dariusz Mikluski +1
In multi-robot system (MRS) bounding overwatch, it is crucial to determine which point to choose for overwatch at each step and whether the robots' positions are trustworthy so tha…
Open Problems in Robotic Anomaly Detection
Ritwik Gupta, Zachary T. Kurtz, Sebastian Scherer +1
Failures in robotics can have disastrous consequences that worsen rapidly over time. This, the ability to rely on robotic systems, depends on our ability to monitor them and interc…
Tree Search Techniques for Minimizing Detectability and Maximizing Visibility
Zhongshun Zhang, Yoonchang Sung, Lifeng Zhou +3
We introduce and study the problem of planning a trajectory for an agent to carry out a scouting mission while avoiding being detected by an adversarial guard. This introduces an a…