61 citations · 243 across the 64 of their papers we have counts for
5 papers · 2 filters
A Generalized A* Algorithm for Finding Globally Optimal Paths in Weighted Colored Graphs
Jaein Lim, Panagiotis Tsiotras
Both geometric and semantic information of the search space is imperative for a good plan. We encode those properties in a weighted colored graph (geometric information in terms of…
Information-Theoretic Abstractions for Planning in Agents with Computational Constraints
Daniel T. Larsson, Dipankar Maity, Panagiotis Tsiotras
In this paper, we develop a framework for path-planning on abstractions that are not provided to the agent a priori but instead emerge as a function of the available computational…
TIE: Time-Informed Exploration For Robot Motion Planning
Sagar Suhas Joshi, Seth Hutchinson, Panagiotis Tsiotras
Anytime sampling-based methods are an attractive technique for solving kino-dynamic motion planning problems. These algorithms scale well to higher dimensions and can efficiently h…
GPU Parallelization of Policy Iteration RRT#
R. Connor Lawson, Linda Wills, Panagiotis Tsiotras
Sampling-based planning has become a de facto standard for complex robots given its superior ability to rapidly explore high-dimensional configuration spaces. Most existing optimal…
Safe Optimal Control under Parametric Uncertainties
Hemanth Sarabu, Venkata Ramana Makkapati, Vinodhini Comandur +2
We address the issue of safe optimal path planning under parametric uncertainties using a novel regularizer that allows trading off optimality with safety. The proposed regularizer…