Ahmad Abuaish — accepted AI-conference papers

2025

Dynamic Gap: Safe Gap-based Navigation in Dynamic Environments

Max Asselmeier, Dhruv Ahuja, Abdel Zaro, Ahmad Abuaish, Ye Zhao, Patricio A. Vela

ICRA 2025

This paper extends the family of gap-based local planners to unknown dynamic environments through generating provably collision-free properties for hierarchical navigation systems. Existing perception-informed local planners that operate in dynamic environments rely on emergent or empirical robustne

Cited by 2 Source ↗code ↗Scholar ↗

2024

Safer Gap: Safe Navigation of Planar Nonholonomic Robots With a Gap-Based Local Planner

Shiyu Feng, Ahmad Abuaish, Patricio A. Vela

RA-L 2024

This paper extends the gap-based navigation technique <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Potential Gap</i> with safety guarantees at the local planning level for a kinematic planar nonholonomic robot model, leading to <italic xmlns:mml="

Cited by 1 Source ↗Scholar ↗