Year 3 review schedule posted

by kwaugh on October 25, 2011

The schedule for the third year review has been posted here.

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Best Student Paper @ IROS 2011

by kwaugh on October 25, 2011

D. S. Yershov and S. M. LaValle. Simplicial Dijkstra and A* Algorithms for Optimal Feedback Planning. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2011. [pdf]

Abstract:

This paper considers the Euclidean shortest path problem among obstacles in Rn. Adaptations of Dijkstra’s and A* algorithms are introduced that compute the approximate cost-to-go function over a simplicial complex embedded in the free space. Interpolation methods are carefully designed and analyzed so that they are proven to converge numerically to the optimal cost-to-go function. As the result, the computed function produces approximately optimal trajectories. The methods are implemented and demonstrated on 2D and 3D examples. As expected, the simplicial A* algorithm significantly improves performance over the simplicial Dijkstra’s algorithm.

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Best Paper Award @ ICML 2011

October 25, 2011

K. Waugh, Brian D. Ziebart and J. A. Bagnell. Computational Rationalization: The Inverse Equilibrium Problem. Proceedings of the International Joint Conference on Machine Learning (ICML), 2011. [pdf]
Abstract:
Modeling the behavior of imperfect agents from a small number of observations is a difficult, but important task. In the single-agent decision-theoretic setting, inverse optimal control has been [...]

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Best Paper Award @ RSS 2011

October 25, 2011

S. Bhattacharya, M. Likhachev and V. Kumar. Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D. Proceedings of Robotics: Science and Systems Conference (RSS), 2011. [pdf]
Abstract:
There are many applications in motion planning where it is important to consider and distinguish between different homotopy classes of trajectories. Two trajectories are [...]

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Upcoming Conference Publication

March 22, 2010

A new paper from the project set to appear at AISTATS 2010:
S. Ross and J. A. Bagnell. Efficient Reductions for Imitation Learning. To appear in Proc. of the International Conference on Artificial Intelligence and Statistics (AISTATS), 2010. [pdf] [supplementary material]
Abstract: Imitation Learning, while applied successfully on many large real-world problems, is typically addressed as a [...]

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Upcoming Conference Publications (cont.)

February 17, 2010

There are a number of papers from the project set to appear at ICRA 2010 in May:
P. Henry, C. Vollmer, B. Ferris, and D. Fox. Learning to navigate through crowded environments. To appear in Proc. of the IEEE International Conference on Robotics & Automation (ICRA), 2010. [pdf]
Abstract: The goal of this research is to enable [...]

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Upcoming Conference Publications

February 17, 2010

Geoff Gordon and his group have papers appearing in the upcoming ICASSP 2010 and AAMAS 2010:
B. Boots, G. Gordon, and S. Siddiqi. Closing the Learning-Planning Loop with Predictive State Representations (extended abstract). To appear in 9th Intl. Conf. on Autonomous Agents and Multiagent Systems (AAMAS), 2010. [pdf]
J. Ramos, S. Siddiqi, A. Dubrawski, [...]

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Information Space Tutorial @ IROS 2009

October 7, 2009

Steven LaValle, one of the group’s members, is giving a tutorial on Information Spaces at the upcoming IROS 2009 workshop. More information on the tutorial can be found at http://msl.cs.uiuc.edu/~lavalle/iros09/.

There is also an accompanying paper at http://msl.cs.uiuc.edu/~lavalle/iros09/paper.pdf with a number of minimalist abstract sensor models including detection sensors, gap sensors, and relational sensors [...]

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Software Frameworks for Collaborative Robotics

September 23, 2009

“An Overview of MOOS-IvP and a Brief Users Guide to the IvP Helm Autonomy Software”
http://dspace.mit.edu/handle/1721.1/45569

“Extending a MOOS-IvP Autonomy System and Users Guide to the IvPBuild Toolbox”
http://dspace.mit.edu/handle/1721.1/46361

“MOOS-IvP Autonomy Tools Users Manual”
http://dspace.mit.edu/handle/1721.1/43708

“A Tour of MOOS-IvP Autonomy Software Modules”
http://dspace.mit.edu/handle/1721.1/44590

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What is Information Space?

August 11, 2009
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Any system with sensors finds itself living in an information space (called I-space for short), whether it wants to or not. What does this mean and why does this happen? Consider a complicated scenario such as a team of robots operating in the real world. What is the appropriate notion of state?

In computer science, state is usually [...]

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