5 papers
Multi-Objective Kinodynamic Motion Planning with Asymptotic Pareto Optimality
Yusif Razzaq, Anne Theurkauf, Nisar Ahmed +1
In this paper, we address the challenge of multi-objective motion planning for systems under kinodynamic constraints. We consider three problem classes: (i) lexicographic optimizat…
Extended Version: Multi-Robot Motion Planning with Cooperative Localization
Anne Theurkauf, Nisar Ahmed, Morteza Lahijanian
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a…
Chance-Constrained Multi-Robot Motion Planning under Gaussian Uncertainties
Anne Theurkauf, Justin Kottinger, Nisar Ahmed +1
We consider a chance-constrained multi-robot motion planning problem in the presence of Gaussian motion and sensor noise. Our proposed algorithm, CC-K-CBS, leverages the scalabilit…
Chance-Constrained Motion Planning with Event-Triggered Estimation
Anne Theurkauf, Qi Heng Ho, Roland Ilyes +2
We consider the problem of autonomous navigation using limited information from a remote sensor network. Because the remote sensors are power and bandwidth limited, we use event-tr…
Pareto Optimal Strategies for Event-Triggered Estimation
Anne Theurkauf, Nisar Ahmed, Morteza Lahijanian
Although resource-limited networked autonomous systems must be able to efficiently and effectively accomplish tasks, better conservation of resources often results in worse task pe…