Zobrazeno 1 - 10
of 19
pro vyhledávání: '"Ho, Qi Heng"'
Sampling-based motion planners (SBMPs) are effective for planning with complex kinodynamic constraints in high-dimensional spaces, but they still struggle to achieve real-time performance, which is mainly due to their serial computation design. We pr
Externí odkaz:
http://arxiv.org/abs/2409.06807
Classical reactive synthesis approaches aim to synthesize a reactive system that always satisfies a given specifications. These approaches often reduce to playing a two-player zero-sum game where the goal is to synthesize a winning strategy. However,
Externí odkaz:
http://arxiv.org/abs/2408.13369
Partially Observable Markov Decision Processes (POMDPs) are powerful models for sequential decision making under transition and observation uncertainties. This paper studies the challenging yet important problem in POMDPs known as the (indefinite-hor
Externí odkaz:
http://arxiv.org/abs/2406.02871
In this paper, we present a controller framework that synthesizes control policies for Jump Markov Linear Systems subject to stochastic mode switches and imperfect mode estimation. Our approach builds on safe and robust methods for Model Predictive C
Externí odkaz:
http://arxiv.org/abs/2310.14116
Autor:
Ho, Qi Heng, Becker, Tyler, Kraske, Benjamin, Laouar, Zakariya, Feather, Martin S., Rossi, Federico, Lahijanian, Morteza, Sunberg, Zachary N.
Many sequential decision problems involve optimizing one objective function while imposing constraints on other objectives. Constrained Partially Observable Markov Decision Processes (C-POMDP) model this case with transition uncertainty and partial o
Externí odkaz:
http://arxiv.org/abs/2310.09688
Publikováno v:
IEEE Robotics and Automation Letters, vol. 9, no. 2, pp. 931-938, 2024
This paper introduces a sampling-based strategy synthesis algorithm for nondeterministic hybrid systems with complex continuous dynamics under temporal and reachability constraints. We model the evolution of the hybrid system as a two-player game, wh
Externí odkaz:
http://arxiv.org/abs/2304.06876
This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to guide a sampling-based search tree in the combined task and belief space
Externí odkaz:
http://arxiv.org/abs/2210.10202
We consider the problem of autonomous navigation using limited information from a remote sensor network. Because the remote sensors are power and bandwidth limited, we use event-triggered (ET) estimation to manage communication costs. We introduce a
Externí odkaz:
http://arxiv.org/abs/2210.07190
In this work, we present a novel robustness measure for continuous-time stochastic trajectories with respect to Signal Temporal Logic (STL) specifications. We show the soundness of the measure and develop a monitor for reasoning about partial traject
Externí odkaz:
http://arxiv.org/abs/2210.04813
This paper presents an algorithmic framework for control synthesis of continuous dynamical systems subject to signal temporal logic (STL) specifications. We propose a novel algorithm to obtain a time-partitioned finite automaton from an STL specifica
Externí odkaz:
http://arxiv.org/abs/2207.03662