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Article
Multipolicy decision-making for autonomous driving via changepoint-based behavior prediction: Theory and experiment
This paper reports on an integrated inference and decision-making approach for autonomous driving that models vehicle behavior for both our vehicle and nearby vehicles as a discrete set of closed-loop policies...
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Article
Opportunistic sampling-based active visual SLAM for underwater inspection
This paper reports on an active SLAM framework for performing large-scale inspections with an underwater robot. We propose a path planning algorithm integrated with visual SLAM that plans loop-closure paths in...