21 citations · 140 across the 43 of their papers we have counts for
13 papers · 1 filter
Bayesian Active Edge Evaluation on Expensive Graphs
Sanjiban Choudhury, Siddhartha Srinivasa, Sebastian Scherer
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic a…
Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury +2
We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are co…
Generalizing Informed Sampling for Asymptotically Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo
Daqing Yi, Rohan Thakker, Cole Gulino +2
Asymptotically-optimal motion planners such as RRT* have been shown to incrementally approximate the shortest path between start and goal states. Once an initial solution is found,…
Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments
Shushman Choudhury, Yifan Hou, Gilwoo Lee +1
We present an algorithm for obtaining an optimal control policy for hybrid dynamical systems in cluttered environments. To the best of our knowledge, this is the first attempt to h…
The Provable Virtue of Laziness in Motion Planning
Nika Haghtalab, Simon Mackenzie, Ariel D. Procaccia +2
The Lazy Shortest Path (LazySP) class consists of motion-planning algorithms that only evaluate edges along shortest paths between the source and target. These algorithms were desi…
Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems
Gilwoo Lee, Zita Marinho, Aaron M. Johnson +3
This paper introduces a novel system identification and tracking method for PieceWise Smooth (PWS) nonlinear stochastic hybrid systems. We are able to correctly identify and track…