76 citations · 116 across the 44 of their papers we have counts for
5 papers · 1 filter
Navigate or Relocate? Planning Among Movable Obstacles in Unknown Environments
Yuqing Zhang, Haoyu Zhu, Yiannis Kantaros
Conventional robot planning methods seek collision-free paths to a goal but fail when all paths are blocked. In these cases, the robot must determine which objects to relocate, in…
Legislating World-Model-Based Planning with Legal Reasoning
Dylan Waldner, Yiannis Kantaros, Guido Governatori +2
As robotic systems grow more general, legal norms are needed to integrate them into society. This paper extends the isomorphism problem of aligning legal source texts with their en…
Conformal Constraint Tightening for Chance-Constrained Motion Planning with Unknown Dynamics
Shubham Natraj, Bruno Sinopoli, Yiannis Kantaros
Motion planning algorithms compute control sequences that drive autonomous robots to goal regions while avoiding unsafe states. Existing methods, from sampling-based planning to de…
Conformal Reachability for Safe Control in Unknown Environments
Xinhang Ma, Junlin Wu, Yiannis Kantaros +1
Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministi…
Making Infeasible Tasks Feasible: Planning to Reconfigure Disconnected 3D Environments with Movable Objects
Samarth Kalluraya, Yiannis Kantaros
Several planners have been developed to compute dynamically feasible, collision-free robot paths from an initial to a goal configuration. A key assumption in these works is that th…