Get our free extension to see links to code for papers anywhere online!

Chrome logo Add to Chrome

Firefox logo Add to Firefox

Picture for Edward Schmerling

On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation


Nov 11, 2021
Thomas Lew, Apoorva Sharma, James Harrison, Edward Schmerling, Marco Pavone


  Access Paper or Ask Questions

Sample-Efficient Safety Assurances using Conformal Prediction


Sep 28, 2021
Rachel Luo, Shengjia Zhao, Jonathan Kuck, Boris Ivanovic, Silvio Savarese, Edward Schmerling, Marco Pavone


  Access Paper or Ask Questions

Towards the Unification and Data-Driven Synthesis of Autonomous Vehicle Safety Concepts


Jul 30, 2021
Andrea Bajcsy, Karen Leung, Edward Schmerling, Marco Pavone


  Access Paper or Ask Questions

On Infusing Reachability-Based Safety Assurance within Planning Frameworks for Human-Robot Vehicle Interactions


Dec 06, 2020
Karen Leung, Edward Schmerling, Mengxuan Zhang, Mo Chen, John Talbot, J. Christian Gerdes, Marco Pavone

* International Journal of Robotics Research, vol. 39, no. 10-11, pp. 1326--1345, 2020 
* arXiv admin note: text overlap with arXiv:1812.11315 

  Access Paper or Ask Questions

Multimodal Deep Generative Models for Trajectory Prediction: A Conditional Variational Autoencoder Approach


Aug 10, 2020
Boris Ivanovic, Karen Leung, Edward Schmerling, Marco Pavone

* 8 pages, 4 figures, 1 table 

  Access Paper or Ask Questions

Learned Critical Probabilistic Roadmaps for Robotic Motion Planning


Oct 08, 2019
Brian Ichter, Edward Schmerling, Tsang-Wei Edward Lee, Aleksandra Faust


  Access Paper or Ask Questions

Revisiting the Asymptotic Optimality of RRT*


Sep 20, 2019
Kiril Solovey, Lucas Janson, Edward Schmerling, Emilio Frazzoli, Marco Pavone

* Submitted to ICRA2020 

  Access Paper or Ask Questions

On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions


Dec 29, 2018
Karen Leung, Edward Schmerling, Mo Chen, John Talbot, J. Christian Gerdes, Marco Pavone

* Presented at the International Symposium on Experimental Robotics, Buenos Aires, Argentina, 2018 

  Access Paper or Ask Questions

Generative Modeling of Multimodal Multi-Human Behavior


Jul 26, 2018
Boris Ivanovic, Edward Schmerling, Karen Leung, Marco Pavone

* IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018 -- 8 pages, 5 figures 

  Access Paper or Ask Questions

Perception-Aware Motion Planning via Multiobjective Search on GPUs


Dec 06, 2017
Brian Ichter, Benoit Landry, Edward Schmerling, Marco Pavone


  Access Paper or Ask Questions

Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction


Oct 25, 2017
Edward Schmerling, Karen Leung, Wolf Vollprecht, Marco Pavone


  Access Paper or Ask Questions

Evaluating Trajectory Collision Probability through Adaptive Importance Sampling for Safe Motion Planning


Jun 01, 2017
Edward Schmerling, Marco Pavone


  Access Paper or Ask Questions

Group Marching Tree: Sampling-Based Approximately Optimal Motion Planning on GPUs


May 05, 2017
Brian Ichter, Edward Schmerling, Marco Pavone


  Access Paper or Ask Questions

Real-Time Stochastic Kinodynamic Motion Planning via Multiobjective Search on GPUs


Feb 23, 2017
Brian Ichter, Edward Schmerling, Ali-akbar Agha-mohammadi, Marco Pavone


  Access Paper or Ask Questions

Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks: a Contraction Theory Approach


Nov 09, 2015
Sumeet Singh, Edward Schmerling, Marco Pavone

* Submitted to IEEE Transactions in Robotics 

  Access Paper or Ask Questions

A Convex Optimization Approach to Smooth Trajectories for Motion Planning with Car-Like Robots


Oct 26, 2015
Zhijie Zhu, Edward Schmerling, Marco Pavone


  Access Paper or Ask Questions

Optimal Sampling-Based Motion Planning under Differential Constraints: the Drift Case with Linear Affine Dynamics


Oct 26, 2015
Edward Schmerling, Lucas Janson, Marco Pavone


  Access Paper or Ask Questions

An Asymptotically-Optimal Sampling-Based Algorithm for Bi-directional Motion Planning


Jul 27, 2015
Joseph A. Starek, Javier V. Gomez, Edward Schmerling, Lucas Janson, Luis Moreno, Marco Pavone

* Accepted to the 2015 IEEE Intelligent Robotics and Systems Conference in Hamburg, Germany. This submission represents the long version of the conference manuscript, with additional proof details (Section IV) regarding the asymptotic optimality of the BFMT* algorithm 

  Access Paper or Ask Questions

Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty


May 29, 2015
Lucas Janson, Edward Schmerling, Marco Pavone


  Access Paper or Ask Questions

Optimal Sampling-Based Motion Planning under Differential Constraints: the Driftless Case


Mar 02, 2015
Edward Schmerling, Lucas Janson, Marco Pavone


  Access Paper or Ask Questions

Fast Marching Tree: a Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions


Feb 06, 2015
Lucas Janson, Edward Schmerling, Ashley Clark, Marco Pavone


  Access Paper or Ask Questions