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Partially observable markov decision processes in robotics: A survey
Noisy sensing, imperfect control, and environment changes are defining characteristics of
many real-world robot tasks. The partially observable Markov decision process (POMDP) …
many real-world robot tasks. The partially observable Markov decision process (POMDP) …
Dec-MCTS: Decentralized planning for multi-robot active perception
We propose a decentralized variant of Monte Carlo tree search (MCTS) that is suitable for a
variety of tasks in multi-robot active perception. Our algorithm allows each robot to optimize …
variety of tasks in multi-robot active perception. Our algorithm allows each robot to optimize …
Robust multiple-path orienteering problem: Securing against adversarial attacks
The multiple-path orienteering problem asks for paths for a team of robots that maximize the
total reward collected while satisfying budget constraints on the path length. This problem …
total reward collected while satisfying budget constraints on the path length. This problem …
Autonomous thermalling as a partially observable markov decision process (extended version)
Small uninhabited aerial vehicles (sUAVs) commonly rely on active propulsion to stay
airborne, which limits flight time and range. To address this, autonomous soaring seeks to …
airborne, which limits flight time and range. To address this, autonomous soaring seeks to …
Neuromorphic robust framework for concurrent estimation and control in dynamical systems using spiking neural networks
Concurrent estimation and control of robotic systems remains an ongoing challenge, where
controllers rely on data extracted from states/parameters riddled with uncertainties and …
controllers rely on data extracted from states/parameters riddled with uncertainties and …
SACBP: Belief space planning for continuous-time dynamical systems via stochastic sequential action control
We propose a novel belief space planning technique for continuous dynamics by viewing
the belief system as a hybrid dynamical system with time-driven switching. Our approach is …
the belief system as a hybrid dynamical system with time-driven switching. Our approach is …
Robust and adaptive planning under model uncertainty
Planning under model uncertainty is a fundamental problem across many applications of
decision making and learning. In this paper, we propose the Robust Adaptive Monte Carlo …
decision making and learning. In this paper, we propose the Robust Adaptive Monte Carlo …
The ReSWARM microgravity flight experiments: Planning, control, and model estimation for on‐orbit close proximity operations
On‐orbit close proximity operations involve robotic spacecraft maneuvering and making
decisions for a growing number of mission scenarios demanding autonomy, including on …
decisions for a growing number of mission scenarios demanding autonomy, including on …
Active motion-based communication for robots with monocular vision
In this paper, we consider motion as a means of sending messages between robots. We
focus on a scenario in which a message is encoded in a sending robot's trajectory, and …
focus on a scenario in which a message is encoded in a sending robot's trajectory, and …
[PDF][PDF] Planning algorithms for multi-robot active perception
G Best - 2019 - researchgate.net
A fundamental task of robotic systems is to use on-board sensors and perception algorithms
to understand high-level semantic properties of an environment. These semantic properties …
to understand high-level semantic properties of an environment. These semantic properties …