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  1. No Access

    Chapter

    MPDM: Multi-policy Decision-Making from Autonomous Driving to Social Robot Navigation

    This chapter presents multi-policy decision-making (MPDM): a novel approach to navigating in dynamic multi-agent environments. Rather than planning the trajectory of the robot explicitly, the planning process ...

    Alex G. Cunningham, Enric Galceran… in Control Strategies for Advanced Driver Ass… (2019)

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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...

    Enric Galceran, Alexander G. Cunningham, Ryan M. Eustice, Edwin Olson in Autonomous Robots (2017)

  3. No Access

    Chapter

    Pose-Graph SLAM for Underwater Navigation

    This chapter reviews the concept of pose- simultaneous and map** (SLAM) for underwater . We show that pose-graph SLAM is a generalized framework that can be applied to many diverse underwater navigation ...

    Stephen M. Chaves, Enric Galceran, Paul Ozog… in Sensing and Control for Autonomous Vehicles (2017)

  4. No Access

    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...

    Stephen M. Chaves, Ayoung Kim, Enric Galceran, Ryan M. Eustice in Autonomous Robots (2016)