3 papers indexed
Haejoon Lee, Xinyi Wang, Taekyung Kim, Dimitra Panagou
Trajectory optimization for multi-robot systems remains a critical challenge, particularly when navigating highly non-convex, non-linear, and non-differentiable environments. While Model-Based Diffusion (MBD) has recently emerged as a promising sampling-based optimization paradig…
Thomas Marshall Vielmetti, Daniel Cherenson, Dimitra Panagou
This paper addresses multi-objective kinodynamic planning in environments with stochastic hybrid adversaries that probabilistically transition to adversarial modes based on the ego state. The goal is to construct the Pareto-front of paths that trade off execution cost and the pro…
Taekyung Kim, Rahul H Kumar, Aswin D. Menon, Tzu-Hsiang Lin, Dimitra Panagou
Autonomous exploration in unknown environments is typically driven by informative frontiers, viewpoints, or trajectories, while local safety controllers avoid obstacles represented in the current map. Under finite sensing range and limited field of view, this separation can be un…