no code implementations • 5 Mar 2022 • Michael Hibbard, Abraham P. Vinod, Jesse Quattrociocchi, Ufuk Topcu
We introduce the Safely motion planner, a receding-horizon control framework, that simultaneously synthesizes both a trajectory for the robot to follow as well as a sensor selection strategy that prescribes trajectory-relevant obstacles to measure at each time step while respecting the sensing constraints of the robot.
no code implementations • 1 Oct 2021 • Kyle Dunlap, Michael Hibbard, Mark Mote, Kerianne Hobbs
Run Time Assurance (RTA) systems are online safety verification techniques that filter the output of a primary controller to assure safety.
no code implementations • 10 Sep 2021 • Michael Hibbard, Takashi Tanaka, Ufuk Topcu
Although perception is an increasingly dominant portion of the overall computational cost for autonomous systems, only a fraction of the information perceived is likely to be relevant to the current task.
no code implementations • 23 Dec 2020 • Michael Hibbard, Kirsten Tuggle, Takashi Tanaka
The problem of synthesizing an optimal sensor selection policy is pertinent to a variety of engineering applications ranging from event detection to autonomous navigation.