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09/16/2023
Asynchronous Task Plan Refinement for Multi-Robot Task and Motion Planning
This paper explores general multi-robot task and motion planning, where ...
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08/04/2023
Decision-Theoretic Approaches for Robotic Environmental Monitoring – A Survey
Robotics has dramatically increased our ability to gather data about our...
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05/17/2023
Motion Planning (In)feasibility Detection using a Prior Roadmap via Path and Cut Search
Motion planning seeks a collision-free path in a configuration space (C-...
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11/15/2022
Learning to Correct Mistakes: Backjumping in Long-Horizon Task and Motion Planning
As robots become increasingly capable of manipulation and long-term auto...
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10/19/2021
Towards Optimal Correlational Object Search
In realistic applications of object search, robots will need to locate t...
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03/26/2021
Reactive Task and Motion Planning under Temporal Logic Specifications
We present a task-and-motion planning (TAMP) algorithm robust against a ...
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03/07/2021
Learning When to Quit: Meta-Reasoning for Motion Planning
Anytime motion planners are widely used in robotics. However, the relati...
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05/06/2020
Multi-Resolution POMDP Planning for Multi-Object Search in 3D
Robots operating in household environments must find objects on shelves,...
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09/18/2019
Environmental Hotspot Identification in Limited Time with a UAV Equipped with a Downward-Facing Camera
We are motivated by environmental monitoring tasks where finding the glo...
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12/23/2018
GM-PHD Filter for Searching and Tracking an Unknown Number of Targets with a Mobile Sensor with Limited FOV
We study the problem of searching for and tracking a collection of movin...
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12/22/2018
Distributed Assignment with Limited Communication for Multi-Robot Multi-Target Tracking
We study the problem of tracking multiple moving targets using a team of...
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11/07/2018
A Competitive Algorithm for Online Multi-Robot Exploration of a Translating Plume
In this paper, we study the problem of exploring a translating plume wit...
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07/25/2018