61 citations · 243 across the 64 of their papers we have counts for
14 papers · 1 filter
Probabilistic Verification of ReLU Neural Networks via Characteristic Functions
Joshua Pilipovsky, Vignesh Sivaramakrishnan, Meeko M. K. Oishi +1
Verifying the input-output relationships of a neural network so as to achieve some desired performance specification is a difficult, yet important, problem due to the growing ubiqu…
AstroSLAM: Autonomous Monocular Navigation in the Vicinity of a Celestial Small Body -- Theory and Experiments
Mehregan Dor, Travis Driver, Kenneth Getzandanner +1
We propose AstroSLAM, a standalone vision-based solution for autonomous online navigation around an unknown target small celestial body. AstroSLAM is predicated on the formulation…
Distributionally Robust Covariance Steering with Optimal Risk Allocation
Venkatraman Renganathan, Joshua Pilipovsky, Panagiotis Tsiotras
This article extends the optimal covariance steering (CS) problem for discrete time linear stochastic systems modeled using moment-based ambiguity sets. To hedge against the uncert…
Lazy Incremental Search for Efficient Replanning with Bounded Suboptimality Guarantees
Jaein Lim, Mahdi Ghanei, R. Connor Lawson +2
We present a lazy incremental search algorithm, Lifelong-GLS (L-GLS), along with its bounded suboptimal version, Bounded L-GLS (B-LGLS) that combine the search efficiency of increm…
Solving Feynman-Kac Forward Backward SDEs Using McKean-Markov Branched Sampling
Kelsey P. Hawkins, Ali Pakniyat, Evangelos Theodorou +1
We propose a new method for the numerical solution of the forward-backward stochastic differential equations (FBSDE) appearing in the Feynman-Kac representation of the value functi…
Risk-Aware Model Predictive Path Integral Control Using Conditional Value-at-Risk
Ji Yin, Zhiyuan Zhang, Panagiotis Tsiotras
In this paper, we present a novel Model Predictive Control method for autonomous robots subject to arbitrary forms of uncertainty. The proposed Risk-Aware Model Predictive Path Int…
Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning
Daniel T. Larsson, Arash Asgharivaskasi, Jaein Lim +2
In this paper, we develop an approach that enables autonomous robots to build and compress semantic environment representations from point-cloud data. Our approach builds a three-d…
On the Adversarial Convex Body Chasing Problem
Yue Guan, Longxu Pan, Daigo Shishika +1
In this work, we extend the convex bodies chasing problem (CBC) to an adversarial setting, where an agent (the Player) is tasked with chasing a sequence of convex bodies generated…
A Linear Programming Approach for Resource-Aware Information-Theoretic Tree Abstractions
Daniel T. Larsson, Dipankar Maity, Panagiotis Tsiotras
In this chapter, an integer linear programming formulation for the problem of obtaining task-relevant, multi-resolution, environment abstractions for resource-constrained autonomou…
AstroVision: Towards Autonomous Feature Detection and Description for Missions to Small Bodies Using Deep Learning
Travis Driver, Katherine Skinner, Mehregan Dor +1
Missions to small celestial bodies rely heavily on optical feature tracking for characterization of and relative navigation around the target body. While deep learning has led to g…
CBS-Budget (CBSB): A Complete and Bounded Suboptimal Search for Multi-Agent Path Finding
Jaein Lim, Panagiotis Tsiotras
Multi-Agent Path Finding (MAPF) is the problem of finding a collection of collision-free paths for a team of multiple agents while minimizing some global cost, such as the sum of t…
CARNet: A Dynamic Autoencoder for Learning Latent Dynamics in Autonomous Driving Tasks
Andrey Pak, Hemanth Manjunatha, Dimitar Filev +1
Autonomous driving has received a lot of attention in the automotive industry and is often seen as the future of transportation. Passenger vehicles equipped with a wide array of se…
Hierarchical Decompositions of Stochastic Pursuit-Evasion Games
Yue Guan, Mohammad Afshari, Qifan Zhang +1
In this work we present a hierarchical framework for solving discrete stochastic pursuit-evasion games (PEGs) in large grid worlds. With a partition of the grid world into supersta…
Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems
Matthew King-Smith, Panagiotis Tsiotras, Frank Dellaert
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving o…