43 citations · 117 across the 15 of their papers we have counts for
5 papers · 1 filter
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…
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…
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…
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…