70 citations · 97 across the 22 of their papers we have counts for
22 papers
Limits of specifiability for sensor-based robotic planning tasks
Basak Sakcak, Dylan A. Shell, Jason M. O'Kane
There is now a large body of techniques, many based on formal methods, for describing and realizing complex robotics tasks, including those involving a variety of rich goals and ti…
A Model for Optimal Resilient Planning Subject to Fallible Actuators
Kyle Baldes, Diptanil Chaudhuri, Jason M. O'Kane +1
Robots incurring component failures ought to adapt their behavior to best realize still-attainable goals under reduced capacity. We formulate the problem of planning with actuators…
AquaVis: A Perception-Aware Autonomous Navigation Framework for Underwater Vehicles
Marios Xanthidis, Michail Kalaitzakis, Nare Karapetyan +4
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.Th…
Robust-by-Design Plans for Multi-Robot Pursuit-Evasion
Trevor Olsen, Nicholas M. Stiffler, Jason M. O'Kane
This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal…
Rapid Recovery from Robot Failures in Multi-Robot Visibility-Based Pursuit-Evasion
Trevor Olsen, Nicholas M. Stiffler, Jason M. O'Kane
This paper addresses the visibility-based pursuit-evasion problem where a team of pursuer robots operating in a two-dimensional polygonal space seek to establish visibility of an a…
Sensor selection for detecting deviations from a planned itinerary
Hazhar Rahmani, Dylan A. Shell, Jason M. O'Kane
Suppose an agent asserts that it will move through an environment in some way. When the agent executes its motion, how does one verify the claim? The problem arises in a range of c…
A Visibility Roadmap Sampling Approach for a Multi-Robot Visibility-Based Pursuit-Evasion Problem
Trevor Olsen, Anne M. Tumlin, Nicholas M. Stiffler +1
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbi…
Accelerating combinatorial filter reduction through constraints
Yulin Zhang, Hazhar Rahmani, Dylan A. Shell +1
Reduction of combinatorial filters involves compressing state representations that robots use. Such optimization arises in automating the construction of minimalist robots. But exa…
Planning to Chronicle
Hazhar Rahmani, Dylan A. Shell, Jason M. O'Kane
An important class of applications entails a robot monitoring, scrutinizing, or recording the evolution of an uncertain time-extended process. This sort of situation leads an inter…
What to Do When You Can't Do It All: Temporal Logic Planning with Soft Temporal Logic Constraints
Hazhar Rahmani, Jason M. O'Kane
In this paper, we consider a temporal logic planning problem in which the objective is to find an infinite trajectory that satisfies an optimal selection from a set of soft specifi…
Coverage of an Environment Using Energy-Constrained Unmanned Aerial Vehicles
Kevin Yu, Jason M. O'Kane, Pratap Tokekar
We study the problem of covering an environment using an Unmanned Aerial Vehicle (UAV) with limited battery capacity. We consider a scenario where the UAV can land on an Unmanned G…
Reality as a simulation of reality: robot illusions, fundamental limits, and a physical demonstration
Dylan A. Shell, Jason M. O'Kane
We consider problems in which robots conspire to present a view of the world that differs from reality. The inquiry is motivated by the problem of validating robot behavior physica…
Riverine Coverage with an Autonomous Surface Vehicle over Known Environments
Nare Karapetyan, Adam Braude, Jason Moulton +4
Environmental monitoring and surveying operations on rivers currently are performed primarily with manually-operated boats. In this domain, autonomous coverage of areas is of vital…
Navigation in the Presence of Obstacles for an Agile Autonomous Underwater Vehicle
Marios Xanthidis, Nare Karapetyan, Hunter Damron +5
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicl…
What does my knowing your plans tell me?
Yulin Zhang, Dylan A. Shell, Jason M. O'Kane
For robots acting in the presence of observers, we examine the information that is divulged if the observer is party to the robot's plan. Privacy constraints are specified as the s…
Finding plans subject to stipulations on what information they divulge
Yulin Zhang, Dylan A. Shell, Jason M. O'Kane
Motivated by applications where privacy is important, we consider planning problems for robots acting in the presence of an observer. We first formulate and then solve planning pro…
Multi-robot Dubins Coverage with Autonomous Surface Vehicles
Nare Karapetyan, Jason Moulton, Jeremy S. Lewis +3
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such…
Toward a language-theoretic foundation for planning and filtering
Fatemeh Zahra Saberifar, Shervin Ghasemlou, Dylan A. Shell +1
We address problems underlying the algorithmic question of automating the co-design of robot hardware in tandem with its apposite software. Specifically, we consider the impact tha…
Robot Design: Formalisms, Representations, and the Role of the Designer
Alexandra Q. Nilles, Dylan A. Shell, Jason M. O'Kane
The objective of this paper is to distill the following essential idea from the RSS 2016 Workshop on Minimality and Design Automation and the RSS 2017 Workshop on Minimality and Tr…
Analysis of Motion Planning by Sampling in Subspaces of Progressively Increasing Dimension
Marios P. Xanthidis, Joel M. Esposito, Ioannis Rekleitis +1
Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include…
Improper Filter Reduction
Fatemeh Zahra Saberifar, Ali Mohades, Mohammadreza Razzazi +1
Combinatorial filters have been the subject of increasing interest from the robotics community in recent years. This paper considers automatic reduction of combinatorial filters to…
RRT+ : Fast Planning for High-Dimensional Configuration Spaces
Marios Xanthidis, Ioannis Rekleitis, Jason M. O'Kane
In this paper we propose a new family of RRT based algorithms, named RRT+ , that are able to find faster solutions in high-dimensional configuration spaces compared to other existi…