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A Sampling Based Approach to Robust Planning for a Planetary Lander
Planning for autonomous operation in unknown environments poses a number of technical challenges. The agent must ensure robustness to …
Connor Basich, Joseph A Russino, Steve Chien, and Shlomo Zilberstein
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Analyzing the efficacy of flexible execution, replanning, and plan optimization for a planetary lander
Plan execution in unknown environments poses a number of challenges: uncertainty in domain modeling, stochasticity at execution time, …
Daniel Wang, Joseph A. Russino, Connor Basich, and Steve Chien
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Metareasoning for Safe Decision Making in Autonomous Systems
Although experts carefully specify the high-level decision-making models in autonomous systems, it is infeasible to guarantee safety …
Justin Svegliato, Connor Basich, Sandhya Saisubramanian, and Shlomo Zilberstein
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Planning with Intermittent State Observability: Knowing When to Act Blind
Contemporary planning models and methods of- ten rely on constant availability of free state information at each step of execution. …
Connor Basich, John R. Peterson, and Shlomo Zilberstein
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Improving Competence via Iterative State Space Refinement
Abstract— Despite considerable efforts by human designers, accounting for every unique situation that an autonomous robotic system …
Connor Basich, Justin Svegliato, Allyson Beach, Kyle Hollins Wray, Stefan Witwicki, and Shlomo Zilberstein
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Solving Markov decision processes with partial state abstractions
Autonomous systems often use approximate planners that exploit state abstractions to solve large MDPs in real-time decision-making …
Samer B. Nashed, Justin Svegliato, Matteo Brucato, Connor Basich, Rod Grupen, and Shlomo Zilberstein
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Learning to Optimize Autonomy in Competence-Aware Systems
Interest in semi-autonomous systems (SAS) is growing rapidly as a paradigm to deploy autonomous systems in domains that require …
Connor Basich, Justin Svegliato, Kyle Hollins Wray, Stefan Witwicki, Joydeep Biswas, and Shlomo Zilberstein
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Satisfying Social Preferences in Ridesharing Services
Dynamic ridesharing services (DRS) play a major role in improving the efficiency of urban transportation. User satisfaction in dynamic …
Sandhya Saisubramanian, Connor Basich, Shlomo Zilberstein, and Claudia V. Goldman
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