5 papers · 1 filter
Trajectory Planning for Safe Dual Control with Active Exploration
Kaleb Ben Naveed, Manveer Singh, Devansh R. Agrawal +1
Planning safe trajectories under model uncertainty is a fundamental challenge. Robust planning ensures safety by considering worst-case realizations, yet ignores uncertainty reduct…
Provably Safe Stein Variational Clarity-Aware Informative Planning
Kaleb Ben Naveed, Utkrisht Sahai, Anouck Girard +1
Autonomous robots are increasingly deployed for information-gathering tasks in environments that vary across space and time. Planning informative and safe trajectories in such sett…
Adaptive Ergodic Search with Energy-Aware Scheduling for Persistent Multi-Robot Missions
Kaleb Ben Naveed, Devansh R. Agrawal, Rahul Kumar +1
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve…
Enabling Safety for Aerial Robots: Planning and Control Architectures
Kaleb Ben Naveed, Devansh R. Agrawal, Daniel M. Cherenson +6
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspecti…
Trajectory Planning for Autonomous Vehicles Using Hierarchical Reinforcement Learning
Kaleb Ben Naveed, Zhiqian Qiao, John M. Dolan
Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Explori…