61 citations · 243 across the 64 of their papers we have counts for
6 papers · 2 filters
Batch Belief Trees for Motion Planning Under Uncertainty
Dongliang Zheng, Panagiotis Tsiotras
In this work, we develop the Batch Belief Trees (BBT) algorithm for motion planning under motion and sensing uncertainties. The algorithm interleaves between batch sampling, buildi…
Trajectory Distribution Control for Model Predictive Path Integral Control using Covariance Steering
Ji Yin, Zhiyuan Zhang, Evangelos Theodorou +1
This paper presents a novel control approach for autonomous systems operating under uncertainty. We combine Model Predictive Path Integral (MPPI) control with Covariance Steering (…
Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation
Jaein Lim, Siddhartha Srinivasa, Panagiotis Tsiotras
We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Sea…
Belief Space Planning: A Covariance Steering Approach
Dongliang Zheng, Jack Ridderhof, Panagiotis Tsiotras +1
A new belief space planning algorithm, called covariance steering Belief RoadMap (CS-BRM), is introduced, which is a multi-query algorithm for motion planning of dynamical systems…
LES: Locally Exploitative Sampling for Robot Path Planning
Sagar Suhas Joshi, Seth Hutchinson, Panagiotis Tsiotras
Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally,…
Information-Theoretic Abstractions for Resource-Constrained Agents via Mixed-Integer Linear Programming
Daniel T. Larsson, Dipankar Maity, Panagiotis Tsiotras
In this paper, a mixed-integer linear programming formulation for the problem of obtaining task-relevant, multi-resolution, graph abstractions for resource-constrained agents is pr…