8 citations · 28 across the 19 of their papers we have counts for
21 papers · 1 filter
Game-Theoretic Planning for Autonomous Driving among Risk-Aware Human Drivers
Rohan Chandra, Mingyu Wang, Mac Schwager +1
We present a novel approach for risk-aware planning with human agents in multi-agent traffic scenarios. Our approach takes into account the wide range of human driver behaviors on…
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget
Oriana Peltzer, Amanda Bouman, Sung-Kyun Kim +8
We present a method for autonomous exploration of large-scale unknown environments under mission time constraints. We start by proposing the Frontloaded Information Gain Orienteeri…
TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation
Claire Chen, Preston Culbertson, Marion Lepert +2
Dexterous manipulation tasks often require contact switching, where fingers make and break contact with the object. We propose a method that plans trajectories for dexterous manipu…
Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers
Nathan S. Usevitch, Trevor Halsted, Zachary M. Hammond +2
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniqu…
Reciprocal Multi-Robot Collision Avoidance with Asymmetric State Uncertainty
Kunal Shah, Guillermo Angeris, Mac Schwager
We present a general decentralized formulation for a large class of collision avoidance methods and show that all collision avoidance methods of this form are guaranteed to be coll…
CoCo: Online Mixed-Integer Control via Supervised Learning
A. Cauligi, P. Culbertson, E. Schmerling +3
Many robotics problems, from robot motion planning to object manipulation, can be modeled as mixed-integer convex programs (MICPs). However, state-of-the-art algorithms are still u…