202 citations · 246 across the 10 of their papers we have counts for
10 papers
RTGNN: A Novel Approach to Model Stochastic Traffic Dynamics
Ke Sun, Stephen Chaves, Paul Martin +1
Modeling stochastic traffic dynamics is critical to developing self-driving cars. Because it is difficult to develop first principle models of cars driven by humans, there is great…
Belief Space Planning for Mobile Robots with Range Sensors using iLQG
Ke Sun, Vijay Kumar
In this work, we use iterative Linear Quadratic Gaussian (iLQG) to plan motions for a mobile robot with range sensors in belief space. We address two limitations that prevent appli…
Stochastic Motion Planning under Partial Observability for Mobile Robots with Continuous Range Measurements
Ke Sun, Brent Schlotfeldt, George Pappas +1
In this paper, we address the problem of stochastic motion planning under partial observability, more specifically, how to navigate a mobile robot equipped with continuous range se…
Feedback Enhanced Motion Planning for Autonomous Vehicles
Ke Sun, Brent Schlotfeldt, Stephen Chaves +3
In this work, we address the motion planning problem for autonomous vehicles through a new lattice planning approach, called Feedback Enhanced Lattice Planner (FELP). Existing latt…
Stochastic 2-D Motion Planning with a POMDP Framework
Ke Sun, Vijay Kumar
Motion planning is challenging when it comes to the case of imperfect state information. Decision should be made based on belief state which evolves according to the noise from the…
The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots
Morgan Quigley, Kartik Mohta, Shreyas S. Shivakumar +8
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a sys…