5 papers · 1 filter
Failing Gracefully: Mitigating Impact of Inevitable Robot Failures
Duc M. Nguyen, Saad A. Ghani, Andrew Marshall +3
Service robots operate in household environments shared with humans, pets, and everyday objects, where they are highly susceptible to failures such as software crashes, hardware de…
Courteous Anticipation: Improving Long-Lived Task Planning in Persistent Shared Environments
Md Ridwan Hossain Talukder, Roshan Dhakal, Elizabeth Phillips +1
We consider a task planning scenario in which robots sharing a persistent environment are assigned tasks one at a time from a held-out sequence. Standard task planners, lacking for…
Scout-Assisted Planning for Heterogeneous Robot Teams under Partially Known Environments
Hoang-Dung Bui, Abhish Khanal, Raihan Islam Arnob +1
Autonomous robot teams navigating partially known environments face costly backtracking when ground robots encounter blocked roads that are only revealed upon physical traversal. W…
Learning-Augmented Model-Based Multi-Robot Planning for Time-Critical Search and Inspection Under Uncertainty
Abhish Khanal, Joseph Prince Mathew, Cameron Nowzari +1
In disaster response or surveillance operations, quickly identifying areas needing urgent attention is critical, but deploying response teams to every location is inefficient or of…
Anticipatory Planning for Performant Long-Lived Robot in Large-Scale Home-Like Environments
Md Ridwan Hossain Talukder, Raihan Islam Arnob, Gregory J. Stein
We consider the setting where a robot must complete a sequence of tasks in a persistent large-scale environment, given one at a time. Existing task planners often operate myopicall…