313 citations · 1.7k across the 110 of their papers we have counts for
136 papers
Capability-aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments
Muhammad Fadhil Ginting, Kyohei Otsu, Mykel J. Kochenderfer +1
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we fo…
Scene Informer: Anchor-based Occlusion Inference and Trajectory Prediction in Partially Observable Environments
Bernard Lange, Jiachen Li, Mykel J. Kochenderfer
Navigating complex and dynamic environments requires autonomous vehicles (AVs) to reason about both visible and occluded regions. This involves predicting the future motion of obse…
Satisfiability.jl: Satisfiability Modulo Theories in Julia
Emiko Soroka, Mykel J. Kochenderfer, Sanjay Lall
Satisfiability modulo theories (SMT) is a core tool in formal verification. While the SMT-LIB specification language can be used to interact with theorem proving software, a high-l…
Efficient Determination of Safety Requirements for Perception Systems
Sydney M. Katz, Anthony L. Corso, Esen Yel +1
Perception systems operate as a subcomponent of the general autonomy stack, and perception system designers often need to optimize performance characteristics while maintaining saf…
Joint Falsification and Fidelity Settings Optimization for Validation of Safety-Critical Systems: A Theoretical Analysis
Ali Baheri, Mykel J. Kochenderfer
Safety validation is a crucial component in the development and deployment of autonomous systems, such as self-driving vehicles and robotic systems. Ensuring safe operation necessi…
Bayesian Safety Validation for Failure Probability Estimation of Black-Box Systems
Robert J. Moss, Mykel J. Kochenderfer, Maxime Gariel +1
Estimating the probability of failure is an important step in the certification of safety-critical systems. Efficient estimation methods are often needed due to the challenges pose…
Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs
Muhammad Fadhil Ginting, Sung-Kyun Kim, Oriana Peltzer +4
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and…
Inferring Traffic Models in Terminal Airspace from Flight Tracks and Procedures
Soyeon Jung, Amelia Hardy, Mykel J. Kochenderfer
Realistic aircraft trajectory models are useful in the design and validation of air traffic management (ATM) systems. Models of aircraft operated under instrument flight rules (IFR…
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
Amanda Bouman, Joshua Ott, Sung-Kyun Kim +5
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked w…
Fast and Scalable Signal Inference for Active Robotic Source Seeking
Christopher E. Denniston, Oriana Peltzer, Joshua Ott +6
In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking…
Falsification of Learning-Based Controllers through Multi-Fidelity Bayesian Optimization
Zahra Shahrooei, Mykel J. Kochenderfer, Ali Baheri
Simulation-based falsification is a practical testing method to increase confidence that the system will meet safety requirements. Because full-fidelity simulations can be computat…
Prioritizing emergency evacuations under compounding levels of uncertainty
Lisa J. Einstein, Robert J. Moss, Mykel J. Kochenderfer
Well-executed emergency evacuations can save lives and reduce suffering. However, decision makers struggle to determine optimal evacuation policies given the chaos, uncertainty, an…
Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environments
Maneekwan Toyungyernsub, Esen Yel, Jiachen Li +1
Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively…
Collaborative Decision Making Using Action Suggestions
Dylan M. Asmar, Mykel J. Kochenderfer
The level of autonomy is increasing in systems spanning multiple domains, but these systems still experience failures. One way to mitigate the risk of failures is to integrate huma…
Sequential Bayesian Optimization for Adaptive Informative Path Planning with Multimodal Sensing
Joshua Ott, Edward Balaban, Mykel J. Kochenderfer
Adaptive Informative Path Planning with Multimodal Sensing (AIPPMS) considers the problem of an agent equipped with multiple sensors, each with different sensing accuracy and energ…
Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems
Nicholas Rober, Sydney M. Katz, Chelsea Sidrane +4
As neural networks (NNs) become more prevalent in safety-critical applications such as control of vehicles, there is a growing need to certify that systems with NN components are s…
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…
Uncertainty-Aware Online Merge Planning with Learned Driver Behavior
Liam A. Kruse, Esen Yel, Ransalu Senanayake +1
Safe and reliable autonomy solutions are a critical component of next-generation intelligent transportation systems. Autonomous vehicles in such systems must reason about complex a…
Risk-Driven Design of Perception Systems
Anthony L. Corso, Sydney M. Katz, Craig Innes +3
Modern autonomous systems rely on perception modules to process complex sensor measurements into state estimates. These estimates are then passed to a controller, which uses them t…
Collision Risk and Operational Impact of Speed Change Advisories as Aircraft Collision Avoidance Maneuvers
Sydney M. Katz, Luis E. Alvarez, Michael Owen +4
Aircraft collision avoidance systems have long been a key factor in keeping our airspace safe. Over the past decade, the FAA has supported the development of a new family of collis…
Multi-Vehicle Control in Roundabouts using Decentralized Game-Theoretic Planning
Arec Jamgochian, Kunal Menda, Mykel J. Kochenderfer
Safe navigation in dense, urban driving environments remains an open problem and an active area of research. Unlike typical predict-then-plan approaches, game-theoretic planning co…
Evidential Softmax for Sparse Multimodal Distributions in Deep Generative Models
Phil Chen, Masha Itkina, Ransalu Senanayake +1
Many applications of generative models rely on the marginalization of their high-dimensional output probability distributions. Normalization functions that yield sparse probability…
Coordinated Multi-Agent Pathfinding for Drones and Trucks over Road Networks
Shushman Choudhury, Kiril Solovey, Mykel Kochenderfer +1
We address the problem of routing a team of drones and trucks over large-scale urban road networks. To conserve their limited flight energy, drones can use trucks as temporary mode…
Multi-Agent Variational Occlusion Inference Using People as Sensors
Masha Itkina, Ye-Ji Mun, Katherine Driggs-Campbell +1
Autonomous vehicles must reason about spatial occlusions in urban environments to ensure safety without being overly cautious. Prior work explored occlusion inference from observed…