40 citations · 65 across the 10 of their papers we have counts for
6 papers · 1 filter
Robot Risk-Awareness by Formal Risk Reasoning and Planning
Xuesu Xiao, Jan Dufek, Robin Murphy
This paper proposes a formal robot motion risk reasoning framework and develops a risk-aware path planner that minimizes the proposed risk. While robots locomoting in unstructured…
Robot Motion Risk Reasoning Framework
Xuesu Xiao, Jan Dufek, Robin R. Murphy
This paper presents a formal and comprehensive reasoning framework for robot motion risk, with a focus on locomotion in challenging unstructured or confined environments. Risk whic…
Explicit Motion Risk Representation
Xuesu Xiao, Jan Dufek, Robin Murphy
This paper presents a formal definition and explicit representation of robot motion risk. Currently, robot motion risk has not been formally defined, but has already been used in m…
Benchmarking Tether-based UAV Motion Primitives
Xuesu Xiao, Jan Dufek, Robin Murphy
This paper proposes and benchmarks two tether-based motion primitives for tethered UAVs to execute autonomous flight with proprioception only. Tethered UAVs have been studied mainl…
Autonomous Visual Assistance for Robot Operations Using a Tethered UAV
Xuesu Xiao, Jan Dufek, Robin R. Murphy
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is d…
Explicit-risk-aware Path Planning with Reward Maximization
Xuesu Xiao, Jan Dufek, Robin Murphy
This paper develops a path planner that minimizes risk (e.g. motion execution) while maximizing accumulated reward (e.g., quality of sensor viewpoint) motivated by visual assistanc…