7 accepted papers
A fundamental challenge in multiagent reinforcement learning is to learn beneficial behaviors in a shared environment with other simultaneously learning agents. In particular, each agent perceives the environment as effectively non-stationary due to the changing policies of other agents. Moreover, e…
Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems’ safety properties. In particular, this work focuses on estimating the forward reachable set of closed-loop systems with NN controlle…
Understanding pedestrian behaviors is crucial for a safe navigation of self-driving vehicles. However, pedestrians exhibit a large variety in their motion behaviors that are affected by interaction with the environment and other users of the road/sidewalk. Most of current models are limited to batch
This project aims to motivate research in competitive human-robot interaction by creating a robot competitor that can challenge human users in certain scenarios such as physical exercise and games. With this goal in mind, we introduce the Fencing Game, a human-robot competition used to evaluate both…
One desirable capability of autonomous cars is to accurately predict the pedestrian motion near intersections for safe and efficient trajectory planning. We are interested in developing transfer learning algorithms that can be trained on the pedestrian trajectories collected at one intersection and…
Place recognition is an essential part of robot localization and mapping problems. Using lower data-rate sensors like 2D scanning laser rangefinders enables the robots to use less memory and computation in building maps. However, place recognition by a vehicle with 6-DOF dynamics like a quadrotor in…
This paper presents four distributed motion controllers to enable a group of robots to collectively transport an object towards a guide robot. These controllers include: rotation around a pivot robot, rotation in-place around an estimated centroid of the object, translation, and a combined motion of…