Search Results - "Sunberg, Zachary N"

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…”
Get full text

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…”
Get full text

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…”
Get full text

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…”
Get full text

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…”
Get full text

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…”
Get full text

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…”
Get full text

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…”
Get full text

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…”
Get full text

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…”
Get full text

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…”
Get full text

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…”
Get full text

Resolving Multiple-Dynamic Model Uncertainty in Hypothesis-Driven Belief-MDPs by Dagan, Ofer, Becker, Tyler, Sunberg, Zachary N

“…When human operators of cyber-physical systems encounter surprising behavior, they often consider multiple hypotheses that might explain it. In some cases,…”
Get full text

Sparse tree search optimality guarantees in POMDPs with continuous observation spaces by Lim, Michael H, Tomlin, Claire J, Sunberg, Zachary N

“…Partially observable Markov decision processes (POMDPs) with continuous state and observation spaces have powerful flexibility for representing real-world…”
Get full text

iLQGames.jl: Rapidly Designing and Solving Differential Games in Julia by Peters, Lasse, Sunberg, Zachary N

“…In many problems that involve multiple decision making agents, optimal choices for each agent depend on the choices of others. Differential game theory…”
Get full text

Rao-Blackwellized POMDP Planning by Lee, Jiho, Ahmed, Nisar R, Wray, Kyle H, Sunberg, Zachary N

“…Partially Observable Markov Decision Processes (POMDPs) provide a structured framework for decision-making under uncertainty, but their application requires…”
Get full text

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…”
Get full text

Sound Heuristic Search Value Iteration for Undiscounted POMDPs with Reachability Objectives by Ho, Qi Heng, Feather, Martin S, Rossi, Federico, Sunberg, Zachary N, Lahijanian, Morteza

“…Partially Observable Markov Decision Processes (POMDPs) are powerful models for sequential decision making under transition and observation uncertainties. This…”
Get full text

Cieran: Designing Sequential Colormaps via In-Situ Active Preference Learning by Hong, Matt-Heun, Sunberg, Zachary N, Szafir, Danielle Albers

“…Quality colormaps can help communicate important data patterns. However, finding an aesthetically pleasing colormap that looks "just right" for a given…”
Get full text

Sampling-based Reactive Synthesis for Nondeterministic Hybrid Systems by Ho, Qi Heng, Sunberg, Zachary N, Lahijanian, Morteza

“…IEEE Robotics and Automation Letters, vol. 9, no. 2, pp. 931-938, 2024 This paper introduces a sampling-based strategy synthesis algorithm for nondeterministic…”
Get full text