6 papers · 1 filter
KGLAMP: Knowledge Graph-guided Language model for Adaptive Multi-robot Planning and Replanning
Chak Lam Shek, Faizan M. Tariq, Sangjae Bae +2
Heterogeneous multi-robot systems are increasingly used in long-horizon missions requiring coordinated planning across diverse capabilities. However, existing planning approaches s…
Scale-Plan: Scalable Language-Enabled Task Planning for Heterogeneous Multi-Robot Teams
Piyush Gupta, Sangjae Bae, Jiachen Li +1
Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the l…
IANN-MPPI: Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral Approach for Autonomous Driving
Kanghyun Ryu, Minjun Sung, Piyush Gupta +4
Motion planning for autonomous vehicles (AVs) in dense traffic is challenging, often leading to overly conservative behavior and unmet planning objectives. This challenge stems fro…
Generalized Mission Planning for Heterogeneous Multi-Robot Teams via LLM-constructed Hierarchical Trees
Piyush Gupta, David Isele, Enna Sachdeva +4
We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs…
Gaussian Lane Keeping: A Robust Prediction Baseline
David Isele, Piyush Gupta, Xinyi Liu +1
Predicting agents' behavior for vehicles and pedestrians is challenging due to a myriad of factors including the uncertainty attached to different intentions, inter-agent interacti…
Towards Scalable & Efficient Interaction-Aware Planning in Autonomous Vehicles using Knowledge Distillation
Piyush Gupta, David Isele, Sangjae Bae
Real-world driving involves intricate interactions among vehicles navigating through dense traffic scenarios. Recent research focuses on enhancing the interaction awareness of auto…