17 citations · 17 across the 6 of their papers we have counts for
7 papers
Causal Analysis of Failures of Cyber-Physical Systems with Continuous Inputs
Tom Yaacov, David A. Kelly, Khen Elimelech +1
Modern autonomous Cyber-Physical Systems (CPSs), such as self-driving cars, operate in increasingly complex environments while expected to maintain high reliability. The black-box…
Explaining Failures of Cyber-Physical Systems with Actual Causality
Khen Elimelech, Tom Yaacov, David A. Kelly +2
Modern autonomous Cyber-Physical Systems (CPSs), such as self-driving cars, face increasingly complex demands, and yet are expected to act reliably. The black-box nature often char…
TIDE: A Trace-Informed Depth-First Exploration for Planning with Temporally Extended Goals
Yuliia Suprun, Khen Elimelech, Lydia E. Kavraki +1
Task planning with temporally extended goals (TEGs) is a critical challenge in AI and robotics, enabling agents to achieve complex sequences of objectives over time rather than add…
Falsification of Autonomous Systems in Rich Environments
Khen Elimelech, Morteza Lahijanian, Lydia E. Kavraki +1
Validating the behavior of autonomous Cyber-Physical Systems (CPS) and Artificial Intelligence (AI) agents, which rely on automated controllers, is an objective of great importance…
Encoding Reusable Multi-Robot Planning Strategies as Abstract Hypergraphs
Khen Elimelech, James Motes, Marco Morales +3
Multi-Robot Task Planning (MR-TP) is the search for a discrete-action plan a team of robots should take to complete a task. The complexity of such problems scales exponentially wit…
Efficient Belief Space Planning in High-Dimensional State Spaces using PIVOT: Predictive Incremental Variable Ordering Tactic
Khen Elimelech, Vadim Indelman
In this work, we examine the problem of online decision making under uncertainty, which we formulate as planning in the belief space. Maintaining beliefs (i.e., distributions) over…
Simplified decision making in the belief space using belief sparsification
Khen Elimelech, Vadim Indelman
In this work, we introduce a new and efficient solution approach for the problem of decision making under uncertainty, which can be formulated as decision making in a belief space,…