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Adaptive Conformal Prediction for Motion Planning among Dynamic Agents


Dec 01, 2022
Anushri Dixit, Lars Lindemann, Skylar Wei, Matthew Cleaveland, George J. Pappas, Joel W. Burdick

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PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains


Jul 30, 2022
Sharmita Dey, David Fan, Robin Schmid, Anushri Dixit, Kyohei Otsu, Thomas Touma, Arndt F. Schilling, Ali-akbar Agha-mohammadi

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* IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022 

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Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification


Apr 21, 2022
Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick, Aaron D. Ames

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Risk-Averse Receding Horizon Motion Planning


Apr 20, 2022
Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick

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* Submitted to Artificial Intelligence Journal, Special Issue on Risk-aware Autonomous Systems: Theory and Practice. arXiv admin note: text overlap with arXiv:2011.11211 

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Distributionally Robust Model Predictive Control with Total Variation Distance


Apr 10, 2022
Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick

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Moving Obstacle Avoidance: a Data-Driven Risk-Aware Approach


Mar 25, 2022
Skylar X. Wei, Anushri Dixit, Shashank Tomar, Joel W. Burdick

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* This is prepared for IEEE Control Systems Letters (L-CSS) 2022 

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NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge


Mar 28, 2021
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick

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* For team website, see https://costar.jpl.nasa.gov/ 

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Risk-Averse Stochastic Shortest Path Planning


Mar 26, 2021
Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick, Aaron D. Ames

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STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation


Mar 04, 2021
David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-Akbar Agha-Mohammadi

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* Under review. Video link: https://youtu.be/N97cv4eH5c8 

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Risk-Sensitive Motion Planning using Entropic Value-at-Risk


Nov 23, 2020
Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick

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