119 citations · 355 across the 60 of their papers we have counts for
6 papers · 2 filters
Map-Predictive Motion Planning in Unknown Environments
Amine Elhafsi, Boris Ivanovic, Lucas Janson +1
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods…
Efficient Large-Scale Multi-Drone Delivery Using Transit Networks
Shushman Choudhury, Kiril Solovey, Mykel J. Kochenderfer +1
We consider the problem of controlling a large fleet of drones to deliver packages simultaneously across broad urban areas. To conserve energy, drones hop between public transit ve…
Revisiting the Asymptotic Optimality of RRT
Kiril Solovey, Lucas Janson, Edward Schmerling +2
RRT* is one of the most widely used sampling-based algorithms for asymptotically-optimal motion planning. This algorithm laid the foundations for optimality in motion planning as a…
Bilevel Optimization for Planning through Contact: A Semidirect Method
Benoit Landry, Joseph Lorenzetti, Zachary Manchester +1
Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been…
Network Offloading Policies for Cloud Robotics: a Learning-based Approach
Sandeep Chinchali, Apoorva Sharma, James Harrison +6
Today's robotic systems are increasingly turning to computationally expensive models such as deep neural networks (DNNs) for tasks like localization, perception, planning, and obje…
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization
Benoit Landry, Zachary Manchester, Marco Pavone
Many problems in modern robotics can be addressed by modeling them as bilevel optimization problems. In this work, we leverage augmented Lagrangian methods and recent advances in a…