16 citations · 89 across the 50 of their papers we have counts for
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Feedback Motion Planning Under Non-Gaussian Uncertainty and Non-Convex State Constraints
Mohammadhussein Rafieisakhaei, Amirhossein Tamjidi, Suman Chakravorty +1
Planning under process and measurement uncertainties is a challenging problem. In its most general form it can be modeled as a Partially Observed Markov Decision Process (POMDP) pr…
Motion Planning for Global Localization in Non-Gaussian Belief Spaces
Saurav Agarwal, Amirhossein Tamjidi, Suman Chakravorty
This paper presents a method for motion planning under uncertainty to deal with situations where ambiguous data associations result in a multimodal hypothesis on the robot state. I…
SLAP: Simultaneous Localization and Planning Under Uncertainty for Physical Mobile Robots via Dynamic Replanning in Belief Space: Extended version
Ali-akbar Agha-mohammadi, Saurav Agarwal, Sung-Kyun Kim +2
Simultaneous localization and Planning (SLAP) is a crucial ability for an autonomous robot operating under uncertainty. In its most general form, SLAP induces a continuous POMDP (p…
A Computationally Optimal Randomized Proper Orthogonal Decomposition Technique
Dan Yu, Suman Chakravorty
In this paper, we consider the model reduction problem of large-scale systems, such as systems obtained through the discretization of partial differential equations. We propose a c…
Motion Planning in Non-Gaussian Belief Spaces (M3P): The Case of a Kidnapped Robot
Saurav Agarwal, Amirhossein Tamjidi, Suman Chakravorty
Planning under uncertainty is a key requirement for physical systems due to the noisy nature of actuators and sensors. Using a belief space approach, planning solutions tend to gen…