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Brian Williams

Massachusetts Institute of Technology

Real-Time Risk-Bounded Tube-Based Trajectory Safety Verification


Oct 01, 2021
Ashkan Jasour, Weiqiao Han, Brian Williams

* Accepted at the 60th IEEE conference on Decision and Control(CDC) 2021 

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Risk Conditioned Neural Motion Planning


Aug 04, 2021
Xin Huang, Meng Feng, Ashkan Jasour, Guy Rosman, Brian Williams

* Accepted at IROS'21. Author version with 7 pages, 5 figures, 2 tables, and 1 algorithm 

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Automatic Curricula via Expert Demonstrations


Jun 16, 2021
Siyu Dai, Andreas Hofmann, Brian Williams

* Preprint, work in progress 

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Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments


Jun 10, 2021
Ashkan Jasour, Weiqiao Han, Brian Williams

* Robotics: Science and Systems (RSS) 2021 

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Optimal Mixed Discrete-Continuous Planning for Linear Hybrid Systems


Feb 20, 2021
Jingkai Chen, Brian Williams, Chuchu Fan

* Accepted at HSCC2021. 12 pages, 8 figures, 3 tables 

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Optimal Mixed Discrete-Continuous Planningfor Linear Hybrid Systems


Feb 16, 2021
Jingkai Chen, Brian Williams, Chuchu Fan

* Accepted at HSCC2021. 12 pages, 8 figures, 3 tables 

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Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances


Dec 16, 2020
Jingkai Chen, Jiaoyang Li, Chuchu Fan, Brian Williams

* Accepted at AAAI2021. 9 pages, 5 figures, 1 table 

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An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse Rewards


Oct 15, 2020
Siyu Dai, Wei Xu, Andreas Hofmann, Brian Williams


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Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures


Jun 03, 2020
Allen Wang, Xin Huang, Ashkan Jasour, Brian Williams

* To appear in Robotics: Science and Systems 

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Moment State Dynamical Systems for Nonlinear Chance-Constrained Motion Planning


Mar 28, 2020
Allen Wang, Ashkan Jasour, Brian Williams


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Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles


Mar 17, 2020
Charles Dawson, Ashkan Jasour, Andreas Hofmann, Brian Williams

* Submitted to IROS 2020 

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Fast Certification of Collision Probability Bounds with Uncertain Convex Obstacles


Mar 17, 2020
Charles Dawson, Andreas Hofmann, Brian Williams

* Submitted to RSS 2020 

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Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles in the Presence of Uncertain Agents


Mar 01, 2020
Allen Wang, Ashkan Jasour, Brian Williams

* Submitted to IEEE Robotics and Automation Letters 

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Efficiently Exploring Ordering Problems through Conflict-directed Search


Apr 15, 2019
Jingkai Chen, Cheng Fang, David Wang, Andrew Wang, Brian Williams

* Accepted at ICAPS2019. 9 pages, 4 figures, 2 tables, 

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Complexity Bounds for the Controllability of Temporal Networks with Conditions, Disjunctions, and Uncertainty


Jan 08, 2019
Nikhil Bhargava, Brian Williams


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Chance Constrained Motion Planning for High-Dimensional Robots


Nov 07, 2018
Siyu Dai, Shawn Schaffert, Ashkan Jasour, Andreas Hofmann, Brian Williams


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Improving Trajectory Optimization using a Roadmap Framework


Nov 05, 2018
Siyu Dai, Matthew Orton, Shawn Schaffert, Andreas Hofmann, Brian Williams

* 2018 ICAPS Workshop on Planning and Robotics (PlanRob 2018) 

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Time Resource Networks


Feb 09, 2016
Szymon Sidor, Peng Yu, Cheng Fang, Brian Williams

* 7 pages, submitted for review to IJCAI16 

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Drake: An Efficient Executive for Temporal Plans with Choice


Jan 18, 2014
Patrick Raymond Conrad, Brian Williams

* Journal Of Artificial Intelligence Research, Volume 42, pages 607-659, 2011 

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