Building a general and efficient path planning framework in uncertain nonconvex
environments is challenging due to the safety constraints and complex configuration …

We characterize and propose advances in the technique of Belief Roadmap Search
(BRMS), the process of searching a roadmap in belief space for robot motion planning under …

Robotic lawn-mowers are required to stay within a predefined working area, otherwise they
may drive into a pond or on the street. This turns navigation and path planning into safety …

We present a deliberative trajectory planning method to avoid collisions with traffic vessels. It
also plans traversal across wavefields generated by these vessels and minimizes the risk of …

Parts assembly, in a broad sense, is to make multiple objects to be in specific relative poses
in contact with each other. One of the major reasons that make it difficult is uncertainty …

Many practical operations like search and rescue operations are time-sensitive missions. In
this paper, we present a wave-aware deliberative planner that avoids collisions with traffic …

Reliability and safety are extremely important for autonomous driving in real traffic scenarios.
However, due to imperfect control and sensing, the actual state of the vehicle cannot be …

Balancing safety and efficiency when navigating in dense traffic remains an open challenge
in autonomous driving. Safety envelopes restrict the allowed planning region and yield …

Nondeterministic behavior of traffic participants and inaccurate sensors and actuators
challenge the reliability of autonomous driving planning and control functions. This thesis …

Many real-world robotic operations that involve high-dimensional humanoid robots require
fast-reaction to plan disturbances and probabilistic guarantees over collision risks, whereas …