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Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments



Vasileios Vasilopoulos , Sebastian Castro , William Vega-Brown , Daniel E. Koditschek , Nicholas Roy

* Technical Report accompanying the paper "A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments" at ICRA 2022 (8 pages, 6 figures) 

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Admissible Abstractions for Near-optimal Task and Motion Planning



William Vega-Brown , Nicholas Roy

* This document is an extended version of a paper to appear in the "27th International Joint Conference on Artificial Intelligence" in July 2018 

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Technical Report: Sensor-Based Reactive Symbolic Planning in Partially Known Environments



Vasileios Vasilopoulos , William Vega-Brown , Omur Arslan , Nicholas Roy , Daniel E. Koditschek

* Technical Report accompanying the paper "Sensor-Based Reactive Symbolic Planning in Partially Known Environments" at ICRA '18 (11 pages, 6 figures) 

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PROBE-GK: Predictive Robust Estimation using Generalized Kernels



Valentin Peretroukhin , William Vega-Brown , Nicholas Roy , Jonathan Kelly

* In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'16), Stockholm, Sweden, May 16-21, 2016 

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