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This paper presents a real-time path planning algorithm that guarantees probabilistic feasibility for autonomous robots with uncertain dynamics operating amidst one or more dynamic obstacles with uncertain motion patterns. Planning safe trajectories under such conditions requires both accurate prediction and proper integration of future obstacle behavior(More)
The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract The most difficult—and often most essential— aspect of many interception and tracking tasks is constructing motion models of the targets to be found. Experts can often provide only partial information, and fitting parameters for(More)
In order for robots to effectively understand natural language commands, they must be able to acquire meaning representations that can be mapped to perceptual features in the external world. Previous approaches to learning these grounded meaning representations require detailed annotations at training time. In this paper, we present an approach to grounded(More)
This article describes the development of a direct-current (dc) superconducting transformer system for the high current test of superconducting cables. The transformer consists of a core-free 10,464 turn primary solenoid which is enclosed by a 6.5 turn secondary. The transformer is designed to deliver a 50 kA dc secondary current at a dc primary current of(More)
Constructing models of mobile agents can be difficult without domain-specific knowledge. Parametric models flexible enough to capture all mobility patterns that an expert believes are possible are often large, requiring a great deal of training data. In contrast, nonparametric models are extremely flexible and can generalize well with relatively little(More)
This paper presents an efficient trajectory prediction algorithm that has been developed to improve the performance of future collision avoidance and detection systems. The main idea is to embed the inferred intention information of surrounding agents into their estimated reachability sets to obtain a probabilistic description of their future paths. More(More)
Real-world robots commonly have to act in complex, poorly understood environments where the true world dynamics are unknown. To compensate for the unknown world dynamics, we often provide a class of models to a learner so it may select a model, typically using a minimum prediction error metric over a set of training data. Often in real-world domains the(More)
— This paper presents a real-time path planning algorithm which can guarantee probabilistic feasibility for autonomous robots subject to process noise and an uncertain environment , including dynamic obstacles with uncertain motion patterns. The key contribution of the work is the integration of a novel method for modeling dynamic obstacles with uncertain(More)
Risk and reward are fundamental concepts in the cooperative control of unmanned systems. In this research, we focus on developing a constructive relationship between cooperative planning and learning algorithms to mitigate the learning risk while boosting system (planner + learner) asymptotic performance and guaranteeing the safety of agent behavior. Our(More)
The batteries of many consumer products are both a substantial portion of the product's cost and commonly a first point of failure. Accurately predicting remaining battery life can lower costs by reducing unnecessary battery replacements. Unfortunately, battery dynamics are extremely complex, and we often lack the domain knowledge required to construct a(More)