13 citations · 13 across the 10 of their papers we have counts for
10 papers
Optimizing Task Completion Time Updates Using POMDPs
Duncan Eddy, Esen Yel, Emma Passmore +4
Managing announced task completion times is a fundamental control problem in project management. While extensive research exists on estimating task durations and task scheduling, t…
Entropy-regularized Point-based Value Iteration
Harrison Delecki, Marcell Vazquez-Chanlatte, Esen Yel +4
Model-based planners for partially observable problems must accommodate both model uncertainty during planning and goal uncertainty during objective inference. However, model-based…
Predicting Future Spatiotemporal Occupancy Grids with Semantics for Autonomous Driving
Maneekwan Toyungyernsub, Esen Yel, Jiachen Li +1
For autonomous vehicles to proactively plan safe trajectories and make informed decisions, they must be able to predict the future occupancy states of the local environment. Howeve…
Efficient Determination of Safety Requirements for Perception Systems
Sydney M. Katz, Anthony L. Corso, Esen Yel +1
Perception systems operate as a subcomponent of the general autonomy stack, and perception system designers often need to optimize performance characteristics while maintaining saf…
Experience Filter: Using Past Experiences on Unseen Tasks or Environments
Anil Yildiz, Esen Yel, Anthony L. Corso +3
One of the bottlenecks of training autonomous vehicle (AV) agents is the variability of training environments. Since learning optimal policies for unseen environments is often very…
Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environments
Maneekwan Toyungyernsub, Esen Yel, Jiachen Li +1
Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively…
Learning Enabled Fast Planning and Control in Dynamic Environments with Intermittent Information
Matthew Cleaveland, Esen Yel, Yiannis Kantaros +2
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense…
Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems
Nicholas Rober, Sydney M. Katz, Chelsea Sidrane +4
As neural networks (NNs) become more prevalent in safety-critical applications such as control of vehicles, there is a growing need to certify that systems with NN components are s…
Uncertainty-Aware Online Merge Planning with Learned Driver Behavior
Liam A. Kruse, Esen Yel, Ransalu Senanayake +1
Safe and reliable autonomy solutions are a critical component of next-generation intelligent transportation systems. Autonomous vehicles in such systems must reason about complex a…
A Meta-Learning-based Trajectory Tracking Framework for UAVs under Degraded Conditions
Esen Yel, Nicola Bezzo
Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its saf…