4 papers · 1 filter
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…
Beyond Fixed Goal Delivery: Online POMDP Planning for Target Interception in Crowds
Himanshu Gupta, Kelvin Aladum, Nisar Ahmed +2
Target interception in crowded environments requires reaching a moving objective while navigating among multiple uncertain human agents. Since human navigation intent is not direct…
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…