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09/19/2023
Measurement Simplification in ρ-POMDP with Performance Guarantees
Decision making under uncertainty is at the heart of any autonomous syst...
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03/03/2023
Data Association Aware POMDP Planning with Hypothesis Pruning Performance Guarantees
Autonomous agents that operate in the real world must often deal with pa...
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02/17/2023
Probabilistic Qualitative Localization and Mapping
Simultaneous localization and mapping (SLAM) are essential in numerous r...
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02/13/2023
Simplified Continuous High Dimensional Belief Space Planning with Adaptive Probabilistic Belief-dependent Constraints
Online decision making under uncertainty in partially observable domains...
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11/14/2022
Monte Carlo Planning in Hybrid Belief POMDPs
Real-world problems often require reasoning about hybrid beliefs, over b...
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09/23/2022
involve-MI: Informative Planning with High-Dimensional Non-Parametric Beliefs
One of the most complex tasks of decision making and planning is to gath...
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09/06/2022
Risk Aware Belief-dependent Constrained POMDP Planning
Risk awareness is fundamental to an online operating agent. However, it ...
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07/19/2022
Hybrid Belief Pruning with Guarantees for Viewpoint-Dependent Semantic SLAM
Semantic simultaneous localization and mapping is a subject of increasin...
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07/17/2022
Nonmyopic Distilled Data Association Belief Space Planning Under Budget Constraints
Autonomous agents operating in perceptually aliased environments should ...
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07/01/2022
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers
Active Simultaneous Localization and Mapping (SLAM) is the problem of pl...
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02/10/2022
D2A-BSP: Distilled Data Association Belief Space Planning with Performance Guarantees Under Budget Constraints
Unresolved data association in ambiguous and perceptually aliased enviro...
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01/14/2022
Adaptive Information Belief Space Planning
Reasoning about uncertainty is vital in many real-life autonomous system...
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12/29/2021
Efficient Belief Space Planning in High-Dimensional State Spaces using PIVOT: Predictive Incremental Variable Ordering Tactic
In this work, we examine the problem of online decision making under unc...
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05/29/2021
Simplified Belief-Dependent Reward MCTS Planning with Guaranteed Tree Consistency
Partially Observable Markov Decision Processes (POMDPs) are notoriously ...
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05/26/2021
Epistemic Uncertainty Aware Semantic Localization and Mapping for Inference and Belief Space Planning
We investigate the problem of autonomous object classification and seman...
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05/12/2021
Probabilistic Loss and its Online Characterization for Simplified Decision Making Under Uncertainty
It is a long-standing objective to ease the computation burden incurred ...
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05/11/2021
Online POMDP Planning via Simplification
In this paper, we consider online planning in partially observable domai...
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02/18/2021
iX-BSP: Incremental Belief Space Planning
Deciding what's next? is a fundamental problem in robotics and Artificia...
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07/06/2020
Distributed Consistent Multi-Robot Semantic Localization and Mapping
We present an approach for multi-robot consistent distributed localizati...
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10/19/2019
Neural Spectrum Alignment
Expressiveness of deep models was recently addressed via the connection ...
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09/02/2019
Efficient Decision Making and Belief Space Planning using Sparse Approximations
In this work, we introduce a new approach for the efficient solution of ...
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08/06/2019
Bayesian Incremental Inference Update by Re-using Calculations from Belief Space Planning: A New Paradigm
Inference and decision making under uncertainty are key processes in eve...
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06/05/2019
General Purpose Incremental Covariance Update and Efficient Belief Space Planning via Factor-Graph Propagation Action Tree
Fast covariance calculation is required both for SLAM (e.g. in order to ...
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03/25/2019
General Probabilistic Surface Optimization and Log Density Estimation
In this paper we contribute a novel algorithm family, which generalizes ...
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03/03/2019
Topological Information-Theoretic Belief Space Planning with Optimality Guarantees
Determining a globally optimal solution of belief space planning (BSP) i...
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07/27/2018
Deep PDF: Probabilistic Surface Optimization and Density Estimation
A probability density function (pdf) encodes the entire stochastic knowl...
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06/16/2016