3 accepted papers
A robot navigating an outdoor environment with no prior knowledge of the space must rely on its local sensing, which is in the form of a local metric map or local policy with some fixed horizon. A limited planning horizon can often result in myopic decisions leading the robot off course or worse, in…
We focus on the problem of long-range dynamic replanning for off-road autonomous vehicles, where a robot plans paths through a previously unobserved environment while continuously receiving noisy local observations. An effective approach for planning under sensing uncertainty is determinization, whe…
We focus on the problem of rearranging a set of objects with a team of car-like robot pushers built using off-the-shelf components. Maintaining control of pushed objects while avoiding collisions in a tight space demands highly coordinated motion that is challenging to execute on constrained hardwar…