10 papers
Continuous-Time Gaussian Belief Trees for Motion Planning
Rayan Mazouz, Qi Heng Ho, Zachary N. Sunberg +1
We address sampling-based motion planning for continuous-time stochastic systems under process and measurement uncertainty, with probabilistic guarantees on safety and performance.…
Provably Safe Motion Planning Under Unknown Disturbances
Ibon Gracia, Qi Heng Ho, Luca Laurenti +1
We present a provably safe sampling-based motion planning algorithm for robotic systems affected by random disturbances of unknown distribution. We consider systems with linear or…
Robustness Analysis of POMDP Policies to Observation Perturbations
Benjamin Kraske, Qi Heng Ho, Federico Rossi +2
Policies for Partially Observable Markov Decision Processes (POMDPs) are often designed using a nominal system model. In practice, this model can deviate from the true system durin…
Sampling-based Task and Kinodynamic Motion Planning under Semantic Uncertainty
Qi Heng Ho, Zachary N. Sunberg, Morteza Lahijanian
This paper tackles the problem of integrated task and kinodynamic motion planning in uncertain environments. We consider a robot with nonlinear dynamics tasked with a Linear Tempor…
Kino-PAX: Near-Optimal Massively Parallel Kinodynamic Sampling-based Motion Planner
Nicolas Perrault, Qi Heng Ho, Morteza Lahijanian
Sampling-based motion planners (SBMPs) are widely used for robot motion planning with complex kinodynamic constraints in high-dimensional spaces, yet their serial computation desig…
Admissibility Over Winning: A New Approach to Reactive Synthesis in Robotics
Karan Muvvala, Morteza Lahijanian
Reactive synthesis is a framework for modeling and automatically synthesizing strategies in robotics, typically through computing a \emph{winning} strategy in a 2-player game betwe…
Kino-PAX: Highly Parallel Kinodynamic Sampling-based Planner
Nicolas Perrault, Qi Heng Ho, Morteza Lahijanian
Sampling-based motion planners (SBMPs) are effective for planning with complex kinodynamic constraints in high-dimensional spaces, but they still struggle to achieve real-time perf…
Beyond Winning Strategies: Admissible and Admissible Winning Strategies for Quantitative Reachability Games
Karan Muvvala, Qi Heng Ho, Morteza Lahijanian
Classical reactive synthesis approaches aim to synthesize a reactive system that always satisfies a given specifications. These approaches often reduce to playing a two-player zero…
Sound Heuristic Search Value Iteration for Undiscounted POMDPs with Reachability Objectives
Qi Heng Ho, Martin S. Feather, Federico Rossi +2
Partially Observable Markov Decision Processes (POMDPs) are powerful models for sequential decision making under transition and observation uncertainties. This paper studies the ch…
Multi-objective Robust Strategy Synthesis for Interval Markov Decision Processes
Ernst Moritz Hahn, Vahid Hashemi, Holger Hermanns +2
Interval Markov decision processes (IMDPs) generalise classical MDPs by having interval-valued transition probabilities. They provide a powerful modelling tool for probabilistic sy…