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Generalized Conflict-directed Search for Optimal Ordering Problems


Mar 31, 2021
Jingkai Chen, Yuening Zhang, Cheng Fang, Brian C. Williams

* Accepted at SOCS2021. 9 pages, 4 figures, 2 tables 

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Moment-Based Exact Uncertainty Propagation Through Nonlinear Stochastic Autonomous Systems


Jan 29, 2021
Ashkan Jasour, Allen Wang, Brian C. Williams

* This work has been submitted to the IEEE Transactions on Automatic Control 

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Fast-reactive probabilistic motion planning for high-dimensional robots


Dec 03, 2020
Siyu Dai, Andreas Hofmann, Brian C. Williams


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Helpfulness as a Key Metric of Human-Robot Collaboration


Oct 10, 2020
Richard G. Freedman, Steven J. Levine, Brian C. Williams, Shlomo Zilberstein

* Accepted for presentation at the AAAI 2020 Fall Symposium Series, in the symposium for Artificial Intelligence for Human-Robot Interaction: Trust & Explainability in Artificial Intelligence for Human-Robot Interaction 

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CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy


Mar 18, 2020
Xin Huang, Stephen G. McGill, Jonathan A. DeCastro, Brian C. Williams, Luke Fletcher, John J. Leonard, Guy Rosman

* 8 pages, 4 figures, 2 algorithms 

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Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling


Nov 28, 2019
Xin Huang, Stephen G. McGill, Jonathan A. DeCastro, Brian C. Williams, Luke Fletcher, John J. Leonard, Guy Rosman

* 8 pages, 5 figures, 1 table 

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Online Risk-Bounded Motion Planning for Autonomous Vehicles in Dynamic Environments


Apr 04, 2019
Xin Huang, Sungkweon Hong, Andreas Hofmann, Brian C. Williams

* Accepted at ICAPS'19. 10 pages, 6 figures, 1 table 

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Uncertainty-Aware Driver Trajectory Prediction at Urban Intersections


Mar 06, 2019
Xin Huang, Stephen McGill, Brian C. Williams, Luke Fletcher, Guy Rosman

* Accepted at ICRA'19. 8 pages, 9 figures, 1 table. Video at https://youtu.be/clR08hRdtlM 

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RADMPC: A Fast Decentralized Approach for Chance-Constrained Multi-Vehicle Path-Planning


Nov 25, 2018
Aaron Huang, Benjamin J. Ayton, Brian C. Williams


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Moment-Sum-Of-Squares Approach For Fast Risk Estimation In Uncertain Environments


Oct 03, 2018
Ashkan Jasour, Andreas Hofmann, Brian C. Williams

* 57th IEEE Conference on Decision and Control 2018 

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Probabilistic Planning for Continuous Dynamic Systems under Bounded Risk


Feb 04, 2014
Masahiro Ono, Brian C. Williams, L. Blackmore

* Journal Of Artificial Intelligence Research, Volume 46, pages 511-577, 2013 

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