2 citations · 3 across the 7 of their papers we have counts for
7 papers
PRISM: Performer RS-IMLE for Single-pass Multisensory Imitation Learning
Amisha Bhaskar, Pratap Tokekar, Stefano Di Cairano +1
Robotic imitation learning typically requires models that capture multimodal action distributions while operating at real-time control rates and accommodating multiple sensing moda…
Delayed Expansion AGT: Kinodynamic Planning with Application to Tractor-Trailer Parking
Dongliang Zheng, Yebin Wang, Stefano Di Cairano +1
Kinodynamic planning of articulated vehicles in cluttered environments faces additional challenges arising from high-dimensional state space and complex system dynamics. Built upon…
A Comparative Study of MINLP and MPVC Formulations for Solving Complex Nonlinear Decision-Making Problems in Aerospace Applications
Andrea Ghezzi, Armin Nurkanović, Avishai Weiss +2
High-level decision-making for dynamical systems often involves performance and safety specifications that are activated or deactivated depending on conditions related to the syste…
Path Planning and Motion Control for Accurate Positioning of Car-like Robots
Jin Dai, Zejiang Wang, Yebin Wang +2
This paper investigates the planning and control for accurate positioning of car-like robots. We propose a solution that integrates two modules: a motion planner, facilitated by th…
Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning
Sleiman Safaoui, Abraham P. Vinod, Ankush Chakrabarty +3
We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon…
Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning
Rien Quirynen, Sleiman Safaoui, Stefano Di Cairano
We develop a real-time feasible mixed-integer programming-based decision making (MIP-DM) system for automated driving. Using a linear vehicle model in a road-aligned coordinate fra…