41 citations · 105 across the 30 of their papers we have counts for
10 papers · 1 filter
Continuous-Time Gaussian Belief Trees for Motion Planning
Rayan Mazouz, Qi Heng Ho, Zachary N. Sunberg +1
We address sampling-based motion planning for continuous-time stochastic systems under process and measurement uncertainty, with probabilistic guarantees on safety and performance.…
Sampling-based Task and Kinodynamic Motion Planning under Semantic Uncertainty
Qi Heng Ho, Zachary N. Sunberg, Morteza Lahijanian
This paper tackles the problem of integrated task and kinodynamic motion planning in uncertain environments. We consider a robot with nonlinear dynamics tasked with a Linear Tempor…
Human-Centered Autonomy for UAS Target Search
Hunter M. Ray, Zakariya Laouar, Zachary Sunberg +1
Current methods of deploying robots that operate in dynamic, uncertain environments, such as Uncrewed Aerial Systems in search \& rescue missions, require nearly continuous human s…
Investigation of risk-aware MDP and POMDP contingency management autonomy for UAS
Prashin Sharma, Benjamin Kraske, Joseph Kim +3
Unmanned aircraft systems (UAS) are being increasingly adopted for various applications. The risk UAS poses to people and property must be kept to acceptable levels. This paper pro…
Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals using Simplified Belief Guides
Qi Heng Ho, Zachary N. Sunberg, Morteza Lahijanian
This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to gui…
Intention-Aware Navigation in Crowds with Extended-Space POMDP Planning
Himanshu Gupta, Bradley Hayes, Zachary Sunberg
This paper presents a hybrid online Partially Observable Markov Decision Process (POMDP) planning system that addresses the problem of autonomous navigation in the presence of mult…
Gaussian Belief Trees for Chance Constrained Asymptotically Optimal Motion Planning
Qi Heng Ho, Zachary N. Sunberg, Morteza Lahijanian
In this paper, we address the problem of sampling-based motion planning under motion and measurement uncertainty with probabilistic guarantees. We generalize traditional sampling-b…
APF-PF: Probabilistic Depth Perception for 3D Reactive Obstacle Avoidance
Shakeeb Ahmad, Zachary N. Sunberg, J. Sean Humbert
This paper proposes a framework for 3D obstacle avoidance in the presence of partial observability of environment obstacles. The method focuses on the utility of the Artificial Pot…
Inference-Based Strategy Alignment for General-Sum Differential Games
Lasse Peters, David Fridovich-Keil, Claire J. Tomlin +1
In many settings where multiple agents interact, the optimal choices for each agent depend heavily on the choices of the others. These coupled interactions are well-described by a…
Optimized and Trusted Collision Avoidance for Unmanned Aerial Vehicles using Approximate Dynamic Programming (Technical Report)
Zachary N. Sunberg, Mykel J. Kochenderfer, Marco Pavone
Safely integrating unmanned aerial vehicles into civil airspace is contingent upon development of a trustworthy collision avoidance system. This paper proposes an approach whereby…