43 citations · 117 across the 15 of their papers we have counts for
16 papers
Paying for Space: Incentive-Aware Motion Planning for Multi-Agent Collision Avoidance
Debajyoti Chakrabarti, Anushri Dixit
Advanced Air Mobility (AAM) systems require scalable coordination mechanisms to manage large fleets of aerial vehicles operating in shared, capacity-limited airspace. In such envir…
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification
Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi +5
The need for a systematic approach to risk assessment has increased in recent years due to the ubiquity of autonomous systems that alter our day-to-day experiences and their need f…
Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners
Allen Z. Ren, Anushri Dixit, Alexandra Bodrova +11
Large language models (LLMs) exhibit a wide range of promising capabilities -- from step-by-step planning to commonsense reasoning -- that may provide utility for robots, but remai…
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge
Anushri Dixit, David D. Fan, Kyohei Otsu +3
Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-…
Adaptive Conformal Prediction for Motion Planning among Dynamic Agents
Anushri Dixit, Lars Lindemann, Skylar Wei +3
This paper proposes an algorithm for motion planning among dynamic agents using adaptive conformal prediction. We consider a deterministic control system and use trajectory predict…
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
Sharmita Dey, David Fan, Robin Schmid +5
Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face…
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…
Risk-Averse Receding Horizon Motion Planning for Obstacle Avoidance using Coherent Risk Measures
Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick
This paper studies the problem of risk-averse receding horizon motion planning for agents with uncertain dynamics, in the presence of stochastic, dynamic obstacles. We propose a mo…
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)…
Distributionally Robust Model Predictive Control with Total Variation Distance
Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick
This paper studies the problem of distributionally robust model predictive control (MPC) using total variation distance ambiguity sets. For a discrete-time linear system with addit…
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…
The Kinematics of Tracked Vehicles via the Power Dissipation Method
Anushri Dixit, Joel Burdick
This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's…