8 papers
Relating Reinforcement Learning to Dynamic Programming-Based Planning
Filip V. Georgiev, Kalle G. Timperi, BaÅak Sakçak +1
This paper bridges some of the gap between optimal planning and reinforcement learning (RL), both of which share roots in dynamic programming applied to sequential decision making…
Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles
Aref Amiri, Basak Sakcak, Steven M. LaValle
This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, consid…
Mobile Robot Localization Using a Novel Whisker-Like Sensor
Prasanna K. Routray, Basak Sakcak, Steven M. LaValle +1
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or lo…
Unwinding Rotations Reduces VR Sickness in Nonsimulated Immersive Telepresence
Filip Kulisiewicz, Basak Sakcak, Evan G. Center +4
Immersive telepresence, when a user views the video stream of a camera in a remote environment using a Head Mounted Display (HMD), has great potential to improve the se…
Sharing but Not Caring: Similar Outcomes for Shared Control and Switching Control in Telepresence-Robot Navigation
Juho Kalliokoski, Evan G. Center, Steven M. LaValle +2
Telepresence robots enable users to interact with remote environments, but efficient and intuitive navigation remains a challenge. In this work, we developed and evaluated a shared…
Optimal Control of Sensor-Induced Illusions on Robotic Agents
Lorenzo Medici, Steven M. LaValle, Basak Sakcak
This paper presents a novel problem of creating and regulating localization and navigation illusions considering two agents: a receiver and a producer. A receiver is moving on a pl…