3 papers
cs.RO2025
A Multimodal Stochastic Planning Approach for Navigation and Multi-Robot Coordination
Mark Gonzales, Ethan Oh, Joseph Moore
In this paper, we present a receding-horizon, sampling-based planner capable of reasoning over multimodal policy distributions. By using the cross-entropy method to optimize a mult…
cs.RO2025
Stratified Topological Autonomy for Long-Range Coordination (STALC)
Cora A. Duggan, Adam Goertz, Adam Polevoy +5
In this paper, we present Stratified Topological Autonomy for Long-Range Coordination (STALC), a hierarchical planning approach for multi-robot coordination in real-world environme…
cs.RO2025
Multi-Agent Feedback Motion Planning using Probably Approximately Correct Nonlinear Model Predictive Control
Mark Gonzales, Adam Polevoy, Marin Kobilarov +1
For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major c…