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