9 citations · 9 across the 2 of their papers we have counts for
6 papers
Learning to Correct Mistakes: Backjumping in Long-Horizon Task and Motion Planning
Yoonchang Sung, Zizhao Wang, Peter Stone
As robots become increasingly capable of manipulation and long-term autonomy, long-horizon task and motion planning problems are becoming increasingly important. A key challenge in…
Reactive Task and Motion Planning under Temporal Logic Specifications
Shen Li, Daehyung Park, Yoonchang Sung +2
We present a task-and-motion planning (TAMP) algorithm robust against a human operator's cooperative or adversarial interventions. Interventions often invalidate the current plan a…
Learning When to Quit: Meta-Reasoning for Motion Planning
Yoonchang Sung, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Anytime motion planners are widely used in robotics. However, the relationship between their solution quality and computation time is not well understood, and thus, determining whe…
Environmental Hotspot Identification in Limited Time with a UAV Equipped with a Downward-Facing Camera
Yoonchang Sung, Deeksha Dixit, Pratap Tokekar
Our work is motivated by environmental monitoring tasks, where finding the global maxima (i.e., hotspot) of a spatially varying field is crucial. We investigate the problem of iden…
Distributed Assignment with Limited Communication for Multi-Robot Multi-Target Tracking
Yoonchang Sung, Ashish Kumar Budhiraja, Ryan K. Williams +1
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize t…
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…