38 citations · 53 across the 13 of their papers we have counts for
16 papers · 1 filter
Imagine-TAMP: Imagination-Guided Task and Motion Planning in Partial Observability
Antareep Singha, Shivaram Kumar, Yoonwoo Kim +1
Robots operating in cluttered environments must often manipulate objects whose locations are only partially observable. A central challenge is deciding whether to acquire another o…
StochSIPP: Safe Interval Path Planning in Stochastic Dynamic Environments
Ajith Kemisetti, Shahaf S. Shperberg, Yoonchang Sung
Safe navigation under uncertain time-dependent blockage requires anticipating observations before committing to motion. We present StochSIPP, an exact contingent planner for tempor…
Asynchronous Task Plan Refinement for Multi-Robot Task and Motion Planning
Yoonchang Sung, Rahul Shome, Peter Stone
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In part…
A Survey of Decision-Theoretic Approaches for Robotic Environmental Monitoring
Yoonchang Sung, Zhiang Chen, Jnaneshwar Das +1
Robotics has dramatically increased our ability to gather data about our environments, creating an opportunity for the robotics and algorithms communities to collaborate on novel s…
Motion Planning (In)feasibility Detection using a Prior Roadmap via Path and Cut Search
Yoonchang Sung, Peter Stone
Motion planning seeks a collision-free path in a configuration space (C-space), representing all possible robot configurations in the environment. As it is challenging to construct…
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…
Towards Optimal Correlational Object Search
Kaiyu Zheng, Rohan Chitnis, Yoonchang Sung +2
In realistic applications of object search, robots will need to locate target objects in complex environments while coping with unreliable sensors, especially for small or hard-to-…
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…
Multi-Resolution POMDP Planning for Multi-Object Search in 3D
Kaiyu Zheng, Yoonchang Sung, George Konidaris +1
Robots operating in households must find objects on shelves, under tables, and in cupboards. In such environments, it is crucial to search efficiently at 3D scale while coping with…
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…
GM-PHD Filter for Searching and Tracking an Unknown Number of Targets with a Mobile Sensor with Limited FOV
Yoonchang Sung, Pratap Tokekar
We study the problem of searching for and tracking a collection of moving targets using a robot with a limited Field-Of-View (FOV) sensor. The actual number of targets present in t…
Online Exploration of an Unknown Region of Interest with a Team of Aerial Robots
Yoonchang Sung, Deeksha Dixit, Pratap Tokekar
In this paper, we study the problem of exploring an unknown Region Of Interest (ROI) with a team of aerial robots. The size and shape of the ROI are unknown to the robots. The obje…
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…
Distributed Simultaneous Action and Target Assignment for Multi-Robot Multi-Target Tracking
Yoonchang Sung, Ashish Kumar Budhiraja, Ryan K. Williams +1
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both…