Where to Look Next: Learning Viewpoint Recommendations for Informative Trajectory Planning

Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree Search, are capable of reasoning over long horizons, but they are computationally expensive. An alternative...

Online Multi-Robot Task Assignment with Stochastic Blockages

In this paper we study the multi-robot task assignment problem with tasks that appear online and need to be serviced within a fixed time window in an uncertain environment. For example, when deployed in dynamic, human-centered environments, the team of robots may not have perfect information about the environment. Parts of the environment may...

Parallel autonomy in automated vehicles: Safe motion generation with minimal intervention

Current state-of-the-art vehicle safety systems, such as assistive braking or automatic lane following, are still only able to help in relatively simple driving situations. We introduce a Parallel Autonomy shared-control framework that produces safe trajectories based on human inputs even in much more complex driving scenarios, such as those...