34 citations · 50 across the 32 of their papers we have counts for
8 papers · 1 filter
Interaction-Aware Sampling-Based MPC with Learned Local Goal Predictions
Walter Jansma, Elia Trevisan, Álvaro Serra-Gómez +1
Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and plan…
Rule-Based Lloyd Algorithm for Multi-Robot Motion Planning and Control with Safety and Convergence Guarantees
Manuel Boldrer, Alvaro Serra-Gomez, Lorenzo Lyons +3
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern…
Scenario-Based Motion Planning with Bounded Probability of Collision
Oscar de Groot, Laura Ferranti, Dariu Gavrila +1
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced i…
A Framework for Fast Prototyping of Photo-realistic Environments with Multiple Pedestrians
Sara Casao, Andrés Otero, Álvaro Serra-Gómez +3
Robotic applications involving people often require advanced perception systems to better understand complex real-world scenarios. To address this challenge, photo-realistic and ph…
Contingency Games for Multi-Agent Interaction
Lasse Peters, Andrea Bajcsy, Chih-Yuan Chiu +4
Contingency planning, wherein an agent generates a set of possible plans conditioned on the outcome of an uncertain event, is an increasingly popular way for robots to act under un…
Scenario-Game ADMM: A Parallelized Scenario-Based Solver for Stochastic Noncooperative Games
Jingqi Li, Chih-Yuan Chiu, Lasse Peters +6
Decision-making in multi-player games can be extremely challenging, particularly under uncertainty. In this work, we propose a new sample-based approximation to a class of stochast…
Globally Guided Trajectory Planning in Dynamic Environments
O. de Groot, L. Ferranti, D. Gavrila +1
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacl…
Online and Offline Learning of Player Objectives from Partial Observations in Dynamic Games
Lasse Peters, Vicenç Rubies-Royo, Claire J. Tomlin +4
Robots deployed to the real world must be able to interact with other agents in their environment. Dynamic game theory provides a powerful mathematical framework for modeling scena…