173 citations · 509 across the 29 of their papers we have counts for
30 papers
Multi-Agent Reach-Avoid Games: Two Attackers Versus One Defender and Mixed Integer Programming
Hanyang Hu, Minh Bui, Mo Chen
We propose a hybrid approach that combines Hamilton-Jacobi (HJ) reachability and mixed-integer optimization for solving a reach-avoid game with multiple attackers and defenders. Th…
Hierarchical Planning and Policy Shaping Shared Autonomy for Articulated Robots
Ehsan Yousefi, Mo Chen, Inna Sharf
In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy sh…
OptimizedDP: An Efficient, User-friendly Library For Optimal Control and Dynamic Programming
Minh Bui, Hanyang Hu, Chong He +4
This paper introduces OptimizedDP, a high-performance software library for several common grid-based dynamic programming (DP) algorithms used in control theory and robotics. Specif…
Asynchronous, Option-Based Multi-Agent Policy Gradient: A Conditional Reasoning Approach
Xubo Lyu, Amin Banitalebi-Dehkordi, Mo Chen +1
Cooperative multi-agent problems often require coordination between agents, which can be achieved through a centralized policy that considers the global state. Multi-agent policy g…
Least-Restrictive Multi-Agent Collision Avoidance via Deep Meta Reinforcement Learning and Optimal Control
Salar Asayesh, Mo Chen, Mehran Mehrandezh +1
Multi-agent collision-free trajectory planning and control subject to different goal requirements and system dynamics has been extensively studied, and is gaining recent attention…
FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking
Mo Chen, Sylvia L. Herbert, Haimin Hu +5
Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computat…