5 papers · 1 filter
Resource-Constrained Robotic Planning in the face of Mixed Uncertainty
Yihao Yin, Pian Yu, Andrea Turrini +3
Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In…
Planning with Linear Temporal Logic Specifications: Handling Quantifiable and Unquantifiable Uncertainty
Pian Yu, Yong Li, David Parker +1
This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfi…
The Trembling-Hand Problem for LTLf Planning
Pian Yu, Shufang Zhu, Giuseppe De Giacomo +2
Consider an agent acting to achieve its temporal goal, but with a "trembling hand". In this case, the agent may mistakenly instruct, with a certain (typically small) probability, a…
Safe POMDP Online Planning among Dynamic Agents via Adaptive Conformal Prediction
Shili Sheng, Pian Yu, David Parker +2
Online planning for partially observable Markov decision processes (POMDPs) provides efficient techniques for robot decision-making under uncertainty. However, existing methods fal…
Trust-Aware Motion Planning for Human-Robot Collaboration under Distribution Temporal Logic Specifications
Pian Yu, Shuyang Dong, Shili Sheng +2
Recent work has considered trust-aware decision making for human-robot collaboration (HRC) with a focus on model learning. In this paper, we are interested in enabling the HRC syst…