242 citations · 391 across the 47 of their papers we have counts for
6 papers · 1 filter
Learning Submodular Objectives for Team Environmental Monitoring
Nils Wilde, Armin Sadeghi, Stephen L. Smith
In this paper, we study the well-known team orienteering problem where a fleet of robots collects rewards by visiting locations. Usually, the rewards are assumed to be known to the…
Scalable Operator Allocation for Multi-Robot Assistance: A Restless Bandit Approach
Abhinav Dahiya, Nima Akbarzadeh, Aditya Mahajan +1
In this paper, we consider the problem of allocating human operators in a system with multiple semi-autonomous robots. Each robot is required to perform an independent sequence of…
Optimal Partitioning of Non-Convex Environments for Minimum Turn Coverage Planning
Megnath Ramesh, Frank Imeson, Baris Fidan +1
In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by coverin…
Spatio-Temporal Lattice Planning Using Optimal Motion Primitives
Alexander Botros, Stephen L. Smith
Lattice-based planning techniques simplify the motion planning problem for autonomous vehicles by limiting available motions to a pre-computed set of primitives. These primitives a…
Tunable Trajectory Planner Using G3 Curves
Alexander Botros, Stephen L. Smith
Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between f…
Safety-Critical Control of Stochastic Systems using Stochastic Control Barrier Functions
Chuanzheng Wang, Yiming Meng, Stephen L. Smith +1
Control barrier functions have been widely used for synthesizing safety-critical controls, often via solving quadratic programs. However, the existence of Gaussian-type noise may l…