5 papers
Information-Theoretic Adaptive Cooling for Deterministic MPPI via Entropy Feedback
Shuqi Wang, Wenrong Sun, Tao Han +2
This paper investigates deterministic optimal control using Model Predictive Path Integral (MPPI) control, a sampling-based and derivative-free framework well suited for systems wi…
Signal Temporal Logic Motion Planning via Graphs of Convex Sets
Yu Chen, Ancheng Hou, Mingyang Feng +2
This paper investigates continuous-time motion planning under Signal Temporal Logic (STL) specifications. The goal is to generate smooth robot trajectories that satisfy high-level…
STEAM: A Training-Free Congestion-Aware Enhancement Framework for Decentralized Multi-Agent Path Finding
Mingyang Feng, Mengnuo Zhang, Shaoyuan Li +1
We propose STEAM (Spatial, Temporal, and Emergent congestion Awareness for MAPF), a training-free test-time enhancement framework for learning-based decentralized Multi-Agent Path…
RRT*former: Environment-Aware Sampling-Based Motion Planning using Transformer
Mingyang Feng, Shaoyuan Li, Xiang Yin
We investigate the sampling-based optimal path planning problem for robotics in complex and dynamic environments. Most existing sampling-based algorithms neglect environmental info…
Chance-Constrained Neural MPC under Uncontrollable Agents via Sequential Convex Programming
Shuqi Wang, Mingyang Feng, Yu Chen +2
This work investigates the challenge of ensuring safety guarantees in the presence of uncontrollable agents, whose behaviors are stochastic and depend on both their own and the sys…