Search Results - "Sunberg, Zachary"

End-to-End Probabilistic Depth Perception and 3D Obstacle Avoidance using POMDP by Ahmad, Shakeeb, Sunberg, Zachary N., Humbert, J. Sean

“…In most real world applications, noisy and incomplete information about the robot proximity is inevitable due to imperfections coupled with the onboard…”
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Sampling-Based Reactive Synthesis for Nondeterministic Hybrid Systems by Ho, Qi Heng, Sunberg, Zachary N., Lahijanian, Morteza

“…This letter introduces a sampling-based strategy synthesis algorithm for nondeterministic hybrid systems with complex continuous dynamics under temporal and…”
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Estimation and control using sampling‐based Bayesian reinforcement learning by Slade, Patrick, Sunberg, Zachary N., Kochenderfer, Mykel J.

“…Real‐world autonomous systems operate under uncertainty about both their pose and dynamics. Autonomous control systems must simultaneously perform estimation…”
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Voronoi Progressive Widening: Efficient Online Solvers for Continuous State, Action, and Observation POMDPs by Lim, Michael H., Tomlin, Claire J., Sunberg, Zachary N.

“…This paper introduces Voronoi Progressive Widening (VPW), a generalization of Voronoi optimistic optimization (VOO) and action progressive widening to…”
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Gaussian Belief Trees for Chance Constrained Asymptotically Optimal Motion Planning by Ho, Qi Heng, Sunberg, Zachary N., Lahijanian, Morteza

“…In this paper, we address the problem of sampling-based motion planning under motion and measurement un-certainty with probabilistic guarantees. We generalize…”
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Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals using Simplified Belief Guides by Ho, Qi Heng, Sunberg, Zachary N., Lahijanian, Morteza

“…This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We…”
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APF-PF: Probabilistic Depth Perception for 3D Reactive Obstacle Avoidance by Ahmad, Shakeeb, Sunberg, Zachary N., Humbert, J. Sean

“…This paper proposes a framework for 3D obstacle avoidance in the presence of partial observability of environment obstacles. The method focuses on the utility…”
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Automaton-Guided Control Synthesis for Signal Temporal Logic Specifications by Ho, Qi Heng, Ilyes, Roland B., Sunberg, Zachary N., Lahijanian, Morteza

“…This paper presents an algorithmic framework for control synthesis for continuous dynamical systems subject to signal temporal logic (STL) specifications. We…”
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Explanation Through Reward Model Reconciliation using POMDP Tree Search by Kraske, Benjamin D., Saksena, Anshu, Buczak, Anna L., Sunberg, Zachary N.

“…As artificial intelligence (AI) algorithms are increasingly used in mission-critical applications, promoting user-trust of these systems will be essential to…”
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Improving Automated Driving Through POMDP Planning With Human Internal States by Sunberg, Zachary, Kochenderfer, Mykel J.

“…This work examines the hypothesis that partially observable Markov decision process (POMDP) planning with human driver internal states can significantly…”
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Information Space Receding Horizon Control for Multisensor Tasking Problems by Sunberg, Zachary, Chakravorty, Suman, Erwin, Richard Scott

“…In this paper, we present a receding horizon solution to the problem of optimal scheduling for multiple sensors monitoring a group of dynamical targets. The…”
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A belief function distance metric for orderable sets by Sunberg, Zachary, Rogers, Jonathan

“…•A new belief function conflict metric is proposed for orderable sets or for use on discretized, continuous spaces.•The conflict metric uses the Hausdorff…”
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Navigation between initial and desired community states using shortcuts by Blonder, Benjamin W., Lim, Michael H., Sunberg, Zachary, Tomlin, Claire

“…Ecological management problems often involve navigating from an initial to a desired community state. We ask whether navigation without brute‐force additions…”
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Optimality Guarantees for Particle Belief Approximation of POMDPs by Lim, Michael H., Becker, Tyler J., Kochenderfer, Mykel J., Tomlin, Claire J., Sunberg, Zachary N.

“…Partially observable Markov decision processes (POMDPs) provide a flexible representation for real-world decision and control problems. However, POMDPs are…”
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Optimized and trusted collision avoidance for unmanned aerial vehicles using approximate dynamic programming by Sunberg, Zachary N., Kochenderfer, Mykel J., Pavone, Marco

“…Safely integrating unmanned aerial vehicles into civil airspace is contingent upon development of a trustworthy collision avoidance system. This paper proposes…”
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Exploiting Hierarchy for Scalable Decision Making in Autonomous Driving by Sonu, Ekhlas, Sunberg, Zachary, Kochenderfer, Mykel J.

“…A major challenge in autonomous driving has been the intractability of planning algorithms. Research has largely focused on simple, short-term scenarios with…”
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Simultaneous active parameter estimation and control using sampling-based Bayesian reinforcement learning by Slade, Patrick, Culbertson, Preston, Sunberg, Zachary, Kochenderfer, Mykel

“…Robots performing manipulation tasks must operate under uncertainty about both their pose and the dynamics of the system. In order to remain robust to modeling…”
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Bridging the Gap between Partially Observable Stochastic Games and Sparse POMDP Methods by Becker, Tyler, Sunberg, Zachary

“…Many real-world decision problems involve the interaction of multiple self-interested agents with limited sensing ability. The partially observable stochastic…”
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The value of inferring the internal state of traffic participants for autonomous freeway driving by Sunberg, Zachary N., Ho, Christopher J., Kochenderfer, Mykel J.

“…Safe interaction with human drivers is one of the primary challenges for autonomous vehicles. In order to plan driving maneuvers effectively, the vehicle's…”
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Safety and Efficiency in Autonomous Vehicles Through Planning with Uncertainty by Sunberg, Zachary Nolan

“…Safety is the highest priority for autonomous vehicles, but if they are not also efficient in terms of time and other resources, they will have a significant…”
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