4 papers
Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations
Zhiquan Zhang, Melkior Ornik
We consider robotic motion planning and control under unknown dynamics with hybrid state observations, where state measurements are available only in parts of the state space. Exis…
Hierarchical Motion Planning and Control under Unknown Nonlinear Dynamics via Predicted Reachability
Zhiquan Zhang, Melkior Ornik
Autonomous motion planning under unknown nonlinear dynamics requires learning system properties while navigating toward a target. In this work, we develop a hierarchical planning-c…
Lexicographic Multi-Objective Stochastic Shortest Path with Mixed Max-Sum Costs
Zhiquan Zhang, Omar Muhammetkulyyev, Tichakorn Wongpiromsarn +1
We study the Stochastic Shortest Path (SSP) problem for autonomous systems with mixed max-sum cost aggregations under Linear Temporal Logic constraints. Classical SSP formulations…
Motion Planning and Control with Unknown Nonlinear Dynamics through Predicted Reachability
Zhiquan Zhang, Gokul Puthumanaillam, Manav Vora +1
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, s…