11 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…
Smooth Feedback Motion Planning with Reduced Curvature
Aref Amiri, Steven M. LaValle
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often pro…
Uncovering Patterns of Brain Activity from EEG Data Consistently Associated with Cybersickness Using Neural Network Interpretability Maps
Jacqueline Yau, Katherine J. Mimnaugh, Evan G. Center +6
Cybersickness poses a serious challenge for users of virtual reality (VR) technology. Consequently, there has been significant effort to track its occurrence during VR use with pas…
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…