• Publications
  • Influence
A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles
TLDR
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency and convenience of automotive transportation. Expand
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Duckietown: An open, inexpensive and flexible platform for autonomy education and research
  • Liam Paull, J. Tani, +27 authors A. Censi
  • Computer Science, Engineering
  • IEEE International Conference on Robotics and…
  • 1 May 2017
TLDR
We present “Duckietown,” an open, inexpensive and flexible platform for autonomy education and research. Expand
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Liability, Ethics, and Culture-Aware Behavior Specification using Rulebooks
TLDR
The behavior of self-driving cars must be compatible with an enormous set of conflicting and ambiguous objectives, from law, from ethics, from the local culture, and so on. Expand
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Simplicial dijkstra and A* algorithms for optimal feedback planning
TLDR
This paper considers the Euclidean shortest path problem among obstacles in ℝn. Expand
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Simplicial Dijkstra and A∗ Algorithms: From Graphs to Continuous Spaces
TLDR
We propose an interpolation-based algorithm for solving the optimal feedback planning problem of a point robot among polygonal obstacles. Expand
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Asymptotically optimal feedback planning using a numerical Hamilton-Jacobi-Bellman solver and an adaptive mesh refinement
TLDR
We present the first asymptotically optimal feedback planning algorithm for nonholonomic systems and additive cost functionals. Expand
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Sufficient Conditions for the Existence of Resolution Complete Planning Algorithms
TLDR
We establish general conditions for the existence of resolution complete planning algorithms by introducing a functional analysis framework and reducing algorithm existence to a simple topological property. Expand
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Practical experiences with Java software transactional memory
TLDR
In this paper, we evaluate the emerging Transactional Memory (TM) area by developing a set of Java transactional memory workloads and studying their performance under a production quality open source Java Runtime system and comparing them to their lock based counterparts. Expand
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Asymptotically Optimal Feedback Planning: FMM Meets Adaptive Mesh Refinement
TLDR
The first asymptotically optimal feedback motion planning algorithm is presented. Expand
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Continuous planning with winding constraints using optimal heuristic-driven front propagation
TLDR
We propose an efficient and high-accuracy heuristic-driven front propagation method on simplicial meshes to solve the winding-constrained optimal feedback navigation problem. Expand
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