4 papers · 1 filter
Resource-Constrained Robotic Planning in the face of Mixed Uncertainty
Yihao Yin, Pian Yu, Andrea Turrini +3
Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In…
Planning with Linear Temporal Logic Specifications: Handling Quantifiable and Unquantifiable Uncertainty
Pian Yu, Yong Li, David Parker +1
This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfi…
Safe POMDP Online Planning among Dynamic Agents via Adaptive Conformal Prediction
Shili Sheng, Pian Yu, David Parker +2
Online planning for partially observable Markov decision processes (POMDPs) provides efficient techniques for robot decision-making under uncertainty. However, existing methods fal…
The Trembling-Hand Problem for LTLf Planning
Pian Yu, Shufang Zhu, Giuseppe De Giacomo +2
Consider an agent acting to achieve its temporal goal, but with a "trembling hand". In this case, the agent may mistakenly instruct, with a certain (typically small) probability, a…