8 citations · 45 across the 28 of their papers we have counts for
8 papers · 1 filter
OcclusionCBF: Backup Control Barrier Functions for Safe Navigation Among Hidden Dynamic Obstacles
Taekyung Kim, Hun Kuk Park, Renya Wada +3
Robots navigating under occlusion may enter states from which no admissible input can avoid a dynamic obstacle once it becomes visible. We present OcclusionCBF, a safety filter tha…
MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy
Saida Liu, Nikolay Atanasov, Shumon Koga
This paper proposes MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy, a control policy for active multi-target tracking using a mobile agent. The policy enables mul…
Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions
Minnan Zhou, Mustafa Shaikh, Vatsalya Chaubey +4
This paper develops a control strategy for pursuit-evasion problems in environments with occlusions. We address the challenge of a mobile pursuer keeping a mobile evader within its…
Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories
Pengzhi Yang, Shumon Koga, Arash Asgharivaskasi +1
This paper proposes a novel model-based policy gradient algorithm for tracking dynamic targets using a mobile robot, equipped with an onboard sensor with limited field of view. The…
Learning Continuous Control Policies for Information-Theoretic Active Perception
Pengzhi Yang, Yuhan Liu, Shumon Koga +2
This paper proposes a method for learning continuous control policies for active landmark localization and exploration using an information-theoretic cost. We consider a mobile rob…
Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories
Arash Asgharivaskasi, Shumon Koga, Nikolay Atanasov
The problem of active mapping aims to plan an informative sequence of sensing views given a limited budget such as distance traveled. This paper consider active occupancy grid mapp…
Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem i…
Active Exploration and Mapping via Iterative Covariance Regulation over Continuous Trajectories
Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
This paper develops \emph{iterative Covariance Regulation} (iCR), a novel method for active exploration and mapping for a mobile robot equipped with on-board sensors. The problem i…