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08/09/2023
Strategic Interactions in Multi-modal Mobility Systems: A Game-Theoretic Perspective
The evolution of existing transportation systems,mainly driven by urbani...
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08/02/2023
A Counterfactual Safety Margin Perspective on the Scoring of Autonomous Vehicles' Riskiness
Autonomous Vehicles (AVs) have the potential to provide numerous societa...
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04/01/2023
Factorization of Multi-Agent Sampling-Based Motion Planning
Modern robotics often involves multiple embodied agents operating within...
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10/24/2022
How Bad is Selfish Driving? Bounding the Inefficiency of Equilibria in Urban Driving Games
We consider the interaction among agents engaging in a driving task and ...
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07/27/2022
Categorification of Negative Information using Enrichment
In many applications of category theory it is useful to reason about "ne...
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07/01/2022
A self-contained karma economy for the dynamic allocation of common resources
This paper presents karma mechanisms, a novel approach to the repeated a...
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03/30/2022
Task-driven Modular Co-design of Vehicle Control Systems
When designing autonomous systems, we need to consider multiple trade-of...
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01/12/2022
nuReality: A VR environment for research of pedestrian and autonomous vehicle interactions
We present nuReality, a virtual reality 'VR' environment designed to tes...
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11/13/2021
Posetal Games: Efficiency, Existence, and Refinement of Equilibria in Games with Prioritized Metrics
Modern applications require robots to comply with multiple, often confli...
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07/15/2021
Rule-based Evaluation and Optimal Control for Autonomous Driving
We develop optimal control strategies for autonomous vehicles (AVs) that...
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06/28/2021
Analysis and Control of Autonomous Mobility-on-Demand Systems: A Review
Challenged by urbanization and increasing travel needs, existing transpo...
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04/21/2021
Game Theory to Study Interactions between Mobility Stakeholders
Increasing urbanization and exacerbation of sustainability goals threate...
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01/14/2021
Rule-based Optimal Control for Autonomous Driving
We develop optimal control strategies for Autonomous Vehicles (AVs) that...
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11/21/2020
Co-Design of Autonomous Systems: From Hardware Selection to Control Synthesis
Designing cyber-physical systems is a complex task which requires insigh...
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11/21/2020
A Formal Approach to the Co-Design of Embodied Intelligence
We consider the problem of formally co-designing embodied intelligence a...
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09/24/2020
Minimum-Violation Planning for Autonomous Systems: Theoretical and Practical Considerations
This paper considers the problem of computing an optimal trajectory for ...
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09/09/2020
Integrated Benchmarking and Design for Reproducible and Accessible Evaluation of Robotic Agents
As robotics matures and increases in complexity, it is more necessary th...
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05/10/2020
A Compositional Sheaf-Theoretic Framework for Event-Based Systems
A compositional sheaf-theoretic framework for the modeling of complex ev...
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12/19/2019
Quantifying the effect of representations on task complexity
We examine the influence of input data representations on learning compl...
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09/20/2019
Revisiting the Asymptotic Optimality of RRT*
RRT* is one of the most widely used sampling-based algorithms for asympt...
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09/01/2019
On Maximizing Lateral Clearance of an Autonomous Vehicle in Urban Environments
We consider the problem of maximizing distance to road agents for a self...
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07/22/2019
Today Me, Tomorrow Thee: Efficient Resource Allocation in Competitive Settings using Karma Games
We present a new type of coordination mechanism among multiple agents fo...
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03/06/2019
The AI Driving Olympics at NeurIPS 2018
Despite recent breakthroughs, the ability of deep learning and reinforce...
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02/25/2019
Liability, Ethics, and Culture-Aware Behavior Specification using Rulebooks
The behavior of self-driving cars must be compatible with an enormous se...
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09/22/2017
Efficient Nearest-Neighbor Search for Dynamical Systems with Nonholonomic Constraints
Nearest-neighbor search dominates the asymptotic complexity of sampling-...
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04/06/2017
Landmark Guided Probabilistic Roadmap Queries
A landmark based heuristic is investigated for reducing query phase run-...
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09/18/2016
Set-Point Regulation of Linear Continuous-Time Systems using Neuromorphic Vision Sensors
Recently developed neuromorphic vision sensors have become promising can...
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02/16/2016
POMDP-lite for Robust Robot Planning under Uncertainty
The partially observable Markov decision process (POMDP) provides a prin...
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05/10/2013
Fast Collision Checking: From Single Robots to Multi-Robot Teams
We examine three different algorithms that enable the collision certific...
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07/11/2012