6 citations · 15 across the 12 of their papers we have counts for
12 papers
Bayesian Networks for Path-Based Sensors: Gathering Information and Path Planning in Communication Denied Environments
Alkesh K. Srivastava, George P. Kontoudis, Donald Sofge +1
A "path-based sensor" produces a single observation along a continuous path. For example, a boolean path-based sensor returns a single "1" if an event of interest is detected at an…
Path-Based Sensors: Will the Knowledge of Correlation in Random Variables Accelerate Information Gathering?
Alkesh K. Srivastava, George P. Kontoudis, Donald Sofge +1
Effective communication is crucial for deploying robots in mission-specific tasks, but inadequate or unreliable communication can greatly reduce mission efficacy, for example in se…
Control and Dynamic Motion Planning for a Hybrid Air-Underwater Quadrotor: Minimizing Energy Use in a Flooded Cave Environment
Ilya Semenov, Robert Brown, Michael Otte
We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We cre…
PiP-X: Online feedback motion planning/replanning in dynamic environments using invariant funnels
Mohamed Khalid M Jaffar, Michael Otte
Computing kinodynamically feasible motion plans and repairing them on-the-fly as the environment changes is a challenging, yet relevant problem in robot-navigation. We propose a no…
Bidirectional Sampling Based Search Without Two Point Boundary Value Solution
Sharan Nayak, Michael W. Otte
Bidirectional motion planning approaches decrease planning time, on average, compared to their unidirectional counterparts. In single-query feasible motion planning, using bidirect…
Multi-Agent Coverage in Urban Environments
Shivang Patel, Senthil Hariharan, Pranav Dhulipala +4
We study multi-agent coverage algorithms for autonomous monitoring and patrol in urban environments. We consider scenarios in which a team of flying agents uses downward facing cam…
LSwarm: Efficient Collision Avoidance for Large Swarms with Coverage Constraints in Complex Urban Scenes
Senthil Hariharan Arul, Adarsh Jagan Sathyamoorthy, Shivang Patel +4
In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids co…
On Solving Floating Point SSSP Using an Integer Priority Queue
Michael Otte
We address the single source shortest path planning problem (SSSP) in the case of floating point edge weights. We show how any integer based Dijkstra solution that relies on a mono…
Planning for Optimal Feedback Control in the Volume of Free Space
Dmitry Yershov, Michael Otte, Emilio Frazzoli
The problem of optimal feedback planning among obstacles in d-dimensional configuration spaces is considered. We present a sampling-based, asymptotically optimal feedback planning…
Game theoretic controller synthesis for multi-robot motion planning Part I : Trajectory based algorithms
Minghui Zhu, Michael Otte, Pratik Chaudhari +1
We consider a class of multi-robot motion planning problems where each robot is associated with multiple objectives and decoupled task specifications. The problems are formulated a…
Free-configuration Biased Sampling for Motion Planning: Errata
Joshua Bialkowski, Michael Otte, Emilio Frazzoli
This document contains improved and updated proofs of convergence for the sampling method presented in our paper "Free-configuration Biased Sampling for Motion Planning".
Fast Collision Checking: From Single Robots to Multi-Robot Teams
Joshua Bialkowski, Michael Otte, Emilio Frazzoli
We examine three different algorithms that enable the collision certificate method from [Bialkowski, et al.] to handle the case of a centralized multi-robot team. By taking advanta…