51 citations · 196 across the 44 of their papers we have counts for
3 papers · 1 filter
Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction
Edward Schmerling, Karen Leung, Wolf Vollprecht +1
This paper presents a method for constructing human-robot interaction policies in settings where multimodality, i.e., the possibility of multiple highly distinct futures, plays a c…
Group Marching Tree: Sampling-Based Approximately Optimal Motion Planning on GPUs
Brian Ichter, Edward Schmerling, Marco Pavone
This paper presents a novel approach, named the Group Marching Tree (GMT*) algorithm, to planning on GPUs at rates amenable to application within control loops, allowing planning i…
Perception-Aware Motion Planning via Multiobjective Search on GPUs
Brian Ichter, Benoit Landry, Edward Schmerling +1
In this paper we describe a framework towards computing well-localized, robust motion plans through the perception-aware motion planning problem, whereby we seek a low-cost motion…