80 citations · 167 across the 23 of their papers we have counts for
15 papers · 1 filter
Voronoi Progressive Widening: Efficient Online Solvers for Continuous State, Action, and Observation POMDPs
Michael H. Lim, Claire J. Tomlin, Zachary N. Sunberg
This paper introduces Voronoi Progressive Widening (VPW), a generalization of Voronoi optimistic optimization (VOO) and action progressive widening to partially observable Markov d…
Multi-Hypothesis Interactions in Game-Theoretic Motion Planning
Forrest Laine, David Fridovich-Keil, Chih-Yuan Chiu +1
We present a novel method for handling uncertainty about the intentions of non-ego players in dynamic games, with application to motion planning for autonomous vehicles. Equilibria…
Testing for Typicality with Respect to an Ensemble of Learned Distributions
Forrest Laine, Claire Tomlin
Methods of performing anomaly detection on high-dimensional data sets are needed, since algorithms which are trained on data are only expected to perform well on data that is simil…
DeepReach: A Deep Learning Approach to High-Dimensional Reachability
Somil Bansal, Claire Tomlin
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical control systems. Its advantage…
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and Dynamics
Fernando Castañeda, Jason J. Choi, Bike Zhang +2
This paper presents a method to design a min-norm Control Lyapunov Function (CLF)-based stabilizing controller for a control-affine system with uncertain dynamics using Gaussian Pr…
Encoding Defensive Driving as a Dynamic Nash Game
Chih-Yuan Chiu, David Fridovich-Keil, Claire J. Tomlin
Robots deployed in real-world environments should operate safely in a robust manner. In scenarios where an "ego" agent navigates in an environment with multiple other "non-ego" age…