3 papers
eess.SY2026
PRISM: Efficient and Locally Optimal Probabilistic Planning with Reachability Guarantees
Alex Rose, Christopher Jewison, Jonathan P. How
Belief-space planning under motion uncertainty and state and control constraints remains a fundamental challenge, largely due to the difficulty of establishing reachability guarant…
eess.SY2025
Efficient Probabilistic Planning with Maximum-Coverage Distributionally Robust Backward Reachable Trees
Alex Rose, Naman Aggarwal, Christopher Jewison +1
This paper presents a new multi-query motion planning algorithm for linear Gaussian systems with the goal of reaching a Euclidean ball with high probability. We develop a new formu…
cs.RO2024
REVISE: Robust Probabilistic Motion Planning in a Gaussian Random Field
Alex Rose, Naman Aggarwal, Christopher Jewison +1
This paper presents Robust samplE-based coVarIance StEering (REVISE), a multi-query algorithm that generates robust belief roadmaps for dynamic systems navigating through spatially…