Ph.D. student in Robotics | Safe High-Level Planning Using Formal Methods
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Citations since 2017
5 Research Items
This work presents a step towards utilizing incrementally-improving symbolic perception knowledge of the robot's surroundings for provably correct reactive control synthesis applied to an autonomous driving problem. Combining abstract models of motion control and information gathering, we show that assume-guarantee specifications (a subclass of Lin...
In this paper, we introduce an automata-based framework for planning with relaxed specifications. User relaxation preferences are represented as weighted finite state edit systems that capture permissible operations on the specification, substitution and deletion of tasks, with complex constraints on ordering and grouping. We propose a three-way pr...
We propose a haptic-guided shared control system that provides an operator with force cues during reach-to-grasp phase of tele-manipulation. The force cues inform the operator of grasping configuration which allows collision-free autonomous post-grasp movements. Previous studies showed haptic guided shared control significantly reduces the complexi...