4 accepted papers
Achieving optimal coordination in multiagent systems involves a trade-off between intractable centralized planning and suboptimal decentralized execution. We bridge this gap by introducing Approximate Recursive Small Step-Semi-Decentralized A* (RS-SDA*), a tree search algorithm that exploits time-va
The transfer of patients between two aircraft using an underway watercraft increases medical evacuation reach and flexibility in maritime environments. The selection of any one of multiple underway watercraft for patient exchange is complicated by participating aircraft utilization histories and par…
Optimal plans in Constrained Partially Observable Markov Decision Processes (CPOMDPs) maximize reward objectives while satisfying hard cost constraints, generalizing safe planning under state and transition uncertainty. Unfortunately, online CPOMDP planning is extremely difficult in large or continu…
Despite considerable efforts by human designers, accounting for every unique situation that an autonomous robotic system deployed in the real world could face is often an infeasible task. As a result, many such deployed systems still rely on human assistance in various capacities to complete certain…