16 papers
Conformal Constraint Tightening for Chance-Constrained Motion Planning with Unknown Dynamics
Shubham Natraj, Bruno Sinopoli, Yiannis Kantaros
Motion planning algorithms compute control sequences that drive autonomous robots to goal regions while avoiding unsafe states. Existing methods, from sampling-based planning to de…
Safe Planning in Unknown Environments Using Conformalized Semantic Maps
David Smith Sundarsingh, Yifei Li, Tianji Tang +3
This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or obje…
ConformalNL2LTL: Translating Natural Language Instructions into Temporal Logic Formulas with Conformal Correctness Guarantees
David Smith Sundarsingh, Jun Wang, Jyotirmoy V. Deshmukh +1
Linear Temporal Logic (LTL) is a widely used task specification language for autonomous systems. To mitigate the significant manual effort and expertise required to define LTL-enco…
Conformal Reachability for Safe Control in Unknown Environments
Xinhang Ma, Junlin Wu, Yiannis Kantaros +1
Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministi…
Making Infeasible Tasks Feasible: Planning to Reconfigure Disconnected 3D Environments with Movable Objects
Samarth Kalluraya, Yiannis Kantaros
Several planners have been developed to compute dynamically feasible, collision-free robot paths from an initial to a goal configuration. A key assumption in these works is that th…
Deadlock-Free Hybrid RL-MAPF Framework for Zero-Shot Multi-Robot Navigation
Haoyi Wang, Licheng Luo, Yiannis Kantaros +2
Multi-robot navigation in cluttered environments presents fundamental challenges in balancing reactive collision avoidance with long-range goal achievement. When navigating through…