7 citations · 12 across the 3 of their papers we have counts for
7 papers
Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification
Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi +2
The dramatic increase of autonomous systems subject to variable environments has given rise to the pressing need to consider risk in both the synthesis and verification of policies…
Moving Obstacle Avoidance: a Data-Driven Risk-Aware Approach
Skylar X. Wei, Anushri Dixit, Shashank Tomar +1
This paper proposes a new structured method for a moving agent to predict the paths of dynamically moving obstacles and avoid them using a risk-aware model predictive control (MPC)…
Risk-Averse Stochastic Shortest Path Planning
Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick +1
We consider the stochastic shortest path planning problem in MDPs, i.e., the problem of designing policies that ensure reaching a goal state from a given initial state with minimum…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation
David D. Fan, Kyohei Otsu, Yuki Kubo +3
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extrem…
Risk-Sensitive Motion Planning using Entropic Value-at-Risk
Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick
We consider the problem of risk-sensitive motion planning in the presence of randomly moving obstacles. To this end, we adopt a model predictive control (MPC) scheme and pose the o…