4 citations · 4 across the 12 of their papers we have counts for
11 papers · 1 filter
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…
Relating Reinforcement Learning to Dynamic Programming-Based Planning
Filip V. Georgiev, Kalle G. Timperi, Başak 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…
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…
Deformation of the panoramic sphere into an ellipsoid to induce self-motion in telepresence users
Eetu Laukka, Evan G. Center, Timo Ojala +2
Mobile telepresence robots allow users to feel present and explore remote environments using technology. Traditionally, these systems are implemented using a camera onboard a mobil…
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…
Minimally sufficient structures for information-feedback policies
Basak Sakcak, Vadim K. Weinstein, Kalle G. Timperi +1
In this paper, we consider robotic tasks which require a desirable outcome to be achieved in the physical world that the robot is embedded in and interacting with. Accomplishing th…
Universal Plans: One Action Sequence to Solve Them All!
Kalle G. Timperi, Alexander J. LaValle, Steven M. LaValle
This paper introduces the notion of a universal plan, which when executed, is guaranteed to solve all planning problems in a category, regardless of the obstacles, initial state, a…
An Internal Model Principle For Robots
Vadim K. Weinstein, Tamara Alshammari, Kalle G. Timperi +2
When designing a robot's internal system, one often makes assumptions about the structure of the intended environment of the robot. One may even assign meaning to various internal…
Equivalent Environments and Covering Spaces for Robots
Vadim K. Weinstein, Steven M. LaValle
This paper formally defines a robot system, including its sensing and actuation components, as a general, topological dynamical system. The focus is on determining general conditio…