69 citations · 462 across the 66 of their papers we have counts for
9 papers · 1 filter
Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data
Prithvi Akella, Skylar X. Wei, Joel W. Burdick +1
Recent advances in safety-critical risk-aware control are predicated on apriori knowledge of the disturbances a system might face. This paper proposes a method to efficiently learn…
Adaptive Conformal Prediction for Motion Planning among Dynamic Agents
Anushri Dixit, Lars Lindemann, Skylar Wei +3
This paper proposes an algorithm for motion planning among dynamic agents using adaptive conformal prediction. We consider a deterministic control system and use trajectory predict…
Risk-aware Meta-level Decision Making for Exploration Under Uncertainty
Joshua Ott, Sung-Kyun Kim, Amanda Bouman +6
Robotic exploration of unknown environments is fundamentally a problem of decision making under uncertainty where the robot must account for uncertainty in sensor measurements, loc…
Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification
Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi +2
The dramatic increase of autonomous systems subject to variable environments has given rise to the pressing need to consider risk in both the synthesis and verification of policies…
Risk-Averse Receding Horizon Motion Planning for Obstacle Avoidance using Coherent Risk Measures
Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick
This paper studies the problem of risk-averse receding horizon motion planning for agents with uncertain dynamics, in the presence of stochastic, dynamic obstacles. We propose a mo…
Moving Obstacle Avoidance: a Data-Driven Risk-Aware Approach
Skylar X. Wei, Anushri Dixit, Shashank Tomar +1
This paper proposes a new structured method for a moving agent to predict the paths of dynamically moving obstacles and avoid them using a risk-aware model predictive control (MPC)…