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cs.RO2023
Guided Sampling-Based Motion Planning with Dynamics in Unknown Environments
Abhish Khanal, Hoang-Dung Bui, Gregory J. Stein +1
Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments rema…
cs.RO2023
Learning Augmented, Multi-Robot Long-Horizon Navigation in Partially Mapped Environments
Abhish Khanal, Gregory J. Stein
We present a novel approach for efficient and reliable goal-directed long-horizon navigation for a multi-robot team in a structured, unknown environment by predicting statistics of…