Research
Research
Research
Research
29+ open-access research outputs.
The Moving Target Vehicle Routing Problem with Obstacles (MT-VRP-O) seeks trajectories for several agents that collectively intercept a set of moving targets. Each target has one or more time windows …
We introduce Lazy-DaSH, an improvement over the recent state of the art multi-robot task and motion planning method DaSH, which scales to more than double the number of robots and objects compared to …
We present an adaptive Finite State Projection (FSP) method for efficiently solving the Chemical Master Equation (CME) with rigorous error control. Our approach integrates time-stepping with dynamic s…
The rapid advancements in large language models (LLMs) have unlocked their potential for multimodal tasks, where text and visual data are processed jointly. However, applying LLMs to medical imaging, …
Reinforcement learning (RL) has progressed substantially over the past decade, with much of this progress being driven by benchmarks. Many benchmarks are focused on video or board games, and a large n…
This work presents a compact, cumulative and coalescible probabilistic voxel mapping method to enhance performance, accuracy and memory efficiency in LiDAR odometry. Probabilistic voxel mapping requir…
Some Learning from Demonstrations (LfD) methods handle small mismatches in the action spaces of the teacher and student. Here we address the case where the teacher's morphology is substantially differ…
Data collected at Hurricane Ian (2022) quantifies the demands that small uncrewed aerial systems (UAS), or drones, place on the network communication infrastructure and identifies gaps in the field. D…
Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, re…
PDDLStream solvers have recently emerged as viable solutions for Task and Motion Planning (TAMP) problems, extending PDDL to problems with continuous action spaces. Prior work has shown how PDDLStream…
We develop a hybrid model-based data-driven seizure detection algorithm called Mutual Information-based CNNAided Learned factor graphs (MICAL) for detection of eclectic seizures from EEG signals. Our …
Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability…
Lazy graph search algorithms are efficient at solving motion planning problems where edge evaluation is the computational bottleneck. These algorithms work by lazily computing the shortest potentially…
With the development of sensors, wireless mobile communication, embedded system, the technologies of the Internet of Things have been widely used in SmartMeter, public security, intelligent building a…
In this work we tackle the path planning problem for a 21-dimensional snake robot-like manipulator, navigating a cluttered gas turbine for the purposes of inspection. Heuristic search based approaches…
We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Search (GLS) for effici…
With the recent development of autonomous vehicle technology, there have been active efforts on the deployment of this technology at different scales that include urban and highway driving. While many…
Lazy graph search algorithms are efficient at solving motion planning problems where edge evaluation is the computational bottleneck. These algorithms work by lazily computing the shortest potentially…
Automated chemical synthesis carries great promises of safety, efficiency and reproducibility for both research and industry laboratories. Current approaches are based on specifically-designed automat…
Lazy search algorithms can efficiently solve problems where edge evaluation is the bottleneck in computation, as is the case for robotic motion planning. The optimal algorithm in this class, LazySP, l…
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