23 citations · 54 across the 9 of their papers we have counts for
4 papers · 1 filter
Trajectories for the Optimal Collection of Information
Matthew R. Kirchner, David Grimsman, Joao P. Hespanha +1
We study a scenario where an aircraft has multiple heterogeneous sensors collecting measurements to track a target vehicle of unknown location. The measurements are sampled along t…
Heterogeneous Measurement Selection for Vehicle Tracking using Submodular Optimization
Matthew R. Kirchner, João P. Hespanha, Denis Garagić
We study a scenario where a group of agents, each with multiple heterogeneous sensors are collecting measurements of a vehicle and the measurements are transmitted over a communica…
A Level Set Approach to Online Sensing and Trajectory Optimization with Time Delays
Matthew R. Kirchner
Presented is a method to compute certain classes of Hamilton-Jacobi equations that result from optimal control and trajectory generation problems with time delays. Many robotic con…
A Primal-Dual Method for Optimal Control and Trajectory Generation in High-Dimensional Systems
Matthew R. Kirchner, Gary Hewer, Jerome Darbon +1
Presented is a method for efficient computation of the Hamilton-Jacobi (HJ) equation for time-optimal control problems using the generalized Hopf formula. Typically, numerical meth…