142 citations · 712 across the 76 of their papers we have counts for
6 papers · 1 filter
Learning and Predicting Multimodal Vehicle Action Distributions in a Unified Probabilistic Model Without Labels
Charles Richter, Patrick R. Barragán, Sertac Karaman
We present a unified probabilistic model that learns a representative set of discrete vehicle actions and predicts the probability of each action given a particular scenario. Our m…
WiSwarm: Age-of-Information-based Wireless Networking for Collaborative Teams of UAVs
Vishrant Tripathi, Igor Kadota, Ezra Tal +4
The Age-of-Information (AoI) metric has been widely studied in the theoretical communication networks and queuing systems literature. However, experimental evaluation of its applic…
Efficient Computation of Map-scale Continuous Mutual Information on Chip in Real Time
Keshav Gupta, Peter Zhi Xuan Li, Sertac Karaman +1
Exploration tasks are essential to many emerging robotics applications, ranging from search and rescue to space exploration. The planning problem for exploration requires determini…
Cooperative Multi-Agent Trajectory Generation with Modular Bayesian Optimization
Gilhyun Ryou, Ezra Tal, Sertac Karaman
We present a modular Bayesian optimization framework that efficiently generates time-optimal trajectories for a cooperative multi-agent system, such as a team of UAVs. Existing met…
Neighborhood Mixup Experience Replay: Local Convex Interpolation for Improved Sample Efficiency in Continuous Control Tasks
Ryan Sander, Wilko Schwarting, Tim Seyde +3
Experience replay plays a crucial role in improving the sample efficiency of deep reinforcement learning agents. Recent advances in experience replay propose using Mixup (Zhang et…
The Role of Heterogeneity in Autonomous Perimeter Defense Problems
Aviv Adler, Oscar Mickelin, Ragesh K. Ramachandran +2
When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally…