410 citations · 2.1k across the 125 of their papers we have counts for
16 papers · 1 filter
Robust Motion Planning in the Presence of Estimation Uncertainty
Lars Lindemann, Matthew Cleaveland, Yiannis Kantaros +1
Motion planning is a fundamental problem and focuses on finding control inputs that enable a robot to reach a goal region while safely avoiding obstacles. However, in many situatio…
Technical Report: Distributed Sampling-based Planning for Non-Myopic Active Information Gathering
Mariliza Tzes, Yiannis Kantaros, George J. Pappas
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of d…
Resilient Active Information Acquisition with Teams of Robots
Brent Schlotfeldt, Vasileios Tzoumas, George J. Pappas
Emerging applications of collaborative autonomy, such as Multi-Target Tracking, Unknown Map Exploration, and Persistent Surveillance, require robots plan paths to navigate an envir…
Technical Report: Scalable Active Information Acquisition for Multi-Robot Systems
Yiannis Kantaros, George J. Pappas
This paper proposes a novel highly scalable non-myopic planning algorithm for multi-robot Active Information Acquisition (AIA) tasks. AIA scenarios include target localization and…
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi +3
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between inf…
Reactive Temporal Logic Planning for Multiple Robots in Unknown Occupancy Grid Maps
Yiannis Kantaros, Matthew Malencia, George J. Pappas
This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The r…