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2023

Algorithmic Foundations of Robotics XV - Proceedings of the Fifteenth Workshop on the Algorithmic Foundations of Robotics, WAFR 2022, College Park, MD, USA, 22-24 June, 2022Steven M. LaValle, Jason M. O'Kane, Michael W. Otte, Dorsa Sadigh, Pratap Tokekar, editors, Volume 25 of Springer Proceedings in Advanced Robotics, Springer, 2023. [doi]

2022

Nondeterminism Subject to Output Commitment in Combinatorial FiltersYulin Zhang 0001, Dylan A. Shell. wafr 2023: 205-222 [doi]

The Role of Heterogeneity in Autonomous Perimeter Defense ProblemsAviv Adler, Oscar Mickelin, Ragesh K. Ramachandran, Gaurav S. Sukhatme, Sertac Karaman. wafr 2023: 115-131 [doi]

The Correlated Arc Orienteering ProblemSaurav Agarwal, Srinivas Akella. wafr 2023: 402-418 [doi]

Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot ManipulatorsAlexandre Amice, Hongkai Dai, Peter Werner, Annan Zhang, Russ Tedrake. wafr 2023: 328-348 [doi]

GOMP-ST: Grasp Optimized Motion Planning for Suction TransportYahav Avigal, Jeffrey Ichnowski, Max Yiye Cao, Ken Goldberg. wafr 2023: 488-505 [doi]

Efficient Motion Planning Under Obstacle Uncertainty with Local DependenciesBrian Axelrod, Luke Shimanuki. wafr 2023: 68-84 [doi]

Error-Bounded Approximation of Pareto Fronts in Robot Planning ProblemsAlexander Botros, Armin Sadeghi, Nils Wilde, Javier Alonso-Mora, Stephen L. Smith 0001. wafr 2023: 506-522 [doi]

Partial Satisfaction of Signal Temporal Logic Specifications for Coordination of Multi-robot SystemsGustavo A. Cardona, Cristian Ioan Vasile. wafr 2023: 223-238 [doi]

Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction TheoryGlen Chou, Necmiye Ozay, Dmitry Berenson. wafr 2023: 349-367 [doi]

Automatic Cross-domain Task Plan Transfer by Caching Abstract SkillsKhen Elimelech, Lydia E. Kavraki, Moshe Y. Vardi. wafr 2023: 470-487 [doi]

Parametrized Motion Planning and Topological ComplexityMichael Farber, Shmuel Weinberger. wafr 2023: 1-17 [doi]

Decentralized Robot Swarm Clustering: Adding Resilience to Malicious Masquerade AttacksMitali Gandhe, Michael W. Otte. wafr 2023: 98-114 [doi]

Information Theoretic Intent Disambiguation via Contextual Nudges for Assistive Shared ControlDeepak Edakkattil Gopinath, Andrew Thompson 0011, Brenna D. Argall. wafr 2023: 239-255 [doi]

Flock Navigation by Coordinated Shepherds via Reinforcement LearningYazied A. Hasan, John E. G. Baxter, César A. Salcedo, Elena Delgado, Lydia Tapia. wafr 2023: 454-469 [doi]

Towards a Framework for Comparing the Complexity of Robotic TasksMichelle Ho, Alec Farid, Anirudha Majumdar. wafr 2023: 273-293 [doi]

Large-Scale Heterogeneous Multi-robot Coverage via Domain Decomposition and Generative AllocationJiaheng Hu, Howard Coffin, Julian Whitman, Matthew J. Travers, Howie Choset. wafr 2023: 52-67 [doi]

Active Uncertainty Reduction for Human-Robot Interaction: An Implicit Dual Control ApproachHaimin Hu, Jaime F. Fisac. wafr 2023: 385-401 [doi]

Adaptive Discretization Using Voronoi Trees for Continuous-Action POMDPsMarcus Hörger, Hanna Kurniawati, Dirk P. Kroese, Nan Ye. wafr 2023: 170-187 [doi]

PiP-X: Funnel-Based Online Feedback Motion Planning/Replanning in Dynamic EnvironmentsMohamed Khalid M. Jaffar, Michael Otte. wafr 2023: 132-148 [doi]

Lane-Level Route Planning for Autonomous VehiclesMitchell Jones, Maximilian Haas-Heger, Jur van den Berg. wafr 2023: 312-327 [doi]

Exponential Convergence of Infeasibility Proofs for Kinematic Motion PlanningSihui Li, Neil T. Dantam. wafr 2023: 294-311 [doi]

Sample-Efficient Safety Assurances Using Conformal PredictionRachel Luo, Shengjia Zhao, Jonathan Kuck, Boris Ivanovic, Silvio Savarese, Edward Schmerling, Marco Pavone 0001. wafr 2023: 149-169 [doi]

Sample-Efficient Safe Learning for Online Nonlinear Control with Control Barrier FunctionsWenhao Luo, Wen Sun, Ashish Kapoor. wafr 2023: 419-435 [doi]

Implicit Multiagent Coordination at Uncontrolled Intersections via Topological BraidsChristoforos I. Mavrogiannis, Jonathan A. DeCastro, Siddhartha S. Srinivasa. wafr 2023: 368-384 [doi]

Hierarchical Reinforcement Learning Under Mixed ObservabilityHai Nguyen, Zhihan Yang, Andrea Baisero, Xiao Ma, Robert Platt, Christopher Amato. wafr 2023: 188-204 [doi]

A Lower Bounding Framework for Motion Planning Amid Dynamic Obstacles in 2DZhongqiang Ren, Sivakumar Rathinam, Howie Choset. wafr 2023: 540-556 [doi]

The Limits of Learning and Planning: Minimal Sufficient Information Transition SystemsBasak Sakcak, Vadim Weinstein, Steven M. LaValle. wafr 2023: 256-272 [doi]

Design Space Exploration for Sampling-Based Motion Planning Programs with Combinatory Logic SynthesisTristan Schäfer, Jan Bessai, Constantin Chaumet, Jakob Rehof, Christian Riest. wafr 2023: 36-51 [doi]

A New Application of Discrete Morse Theory to Optimizing Safe Motion Planning PathsAakriti Upadhyay, Boris Goldfarb, Weifu Wang 0001, Chinwe Ekenna. wafr 2023: 18-35 [doi]

Morse Graphs: Topological Tools for Analyzing the Global Dynamics of Robot ControllersEwerton R. Vieira, Edgar Granados, Aravind Sivaramakrishnan, Marcio Gameiro, Konstantin Mischaikow, Kostas E. Bekris. wafr 2023: 436-453 [doi]

Distributed Spacing Control for Multiple, Buoyancy-Controlled Underwater RobotsCong Wei, Derek A. Paley. wafr 2023: 85-97 [doi]

GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal ModelZhaoming Xie, Xingye Da, Buck Babich, Animesh Garg, Michiel van de Panne. wafr 2023: 523-539 [doi]

2021

Cover Combinatorial Filters and Their Minimization ProblemYulin Zhang 0001, Dylan A. Shell. wafr 2021: 90-106 [doi]

Hybrid Control for Learning Motor SkillsIan Abraham, Alexander Broad, Allison Pinosky, Brenna Argall, Todd D. Murphey. wafr 2021: 450-466 [doi]

Approximation Algorithms for Multi-Robot Patrol-Scheduling with Min-Max LatencyPeyman Afshani, Mark de Berg, Kevin Buchin, Jie Gao 0001, Maarten Löffler, Amir Nayyeri, Benjamin Raichel, Rik Sarkar, Haotian Wang 0002, Hao-Tsung Yang. wafr 2021: 107-123 [doi]

Approximation Algorithms for the Single Robot Line Coverage ProblemSaurav Agarwal, Srinivas Akella. wafr 2021: 534-550 [doi]

Learning Control Sets for Lattice Planners from User PreferencesAlexander Botros, Nils Wilde, Stephen L. Smith 0001. wafr 2021: 381-397 [doi]

Linear-Time Variational Integrators in Maximal CoordinatesJan Brüdigam, Zachary Manchester. wafr 2021: 194-209 [doi]

Locally-Connected Interrelated Network: A Forward Propagation PrimitiveNicholas Collins, Hanna Kurniawati. wafr 2021: 124-142 [doi]

Active Localization of Multiple Targets from Noisy Relative MeasurementsSelim Engin, Volkan Isler. wafr 2021: 398-413 [doi]

Characterizing Marginalization and Incremental Operations on the Bayes TreeDehann Fourie, Antonio Terán Espinoza, Michael Kaess, John J. Leonard. wafr 2021: 227-242 [doi]

Deadlock Analysis and Resolution for Multi-robot SystemsJaskaran Singh Grover, Changliu Liu, Katia P. Sycara. wafr 2021: 294-312 [doi]

Space-Aware ReconfigurationDan Halperin, Marc J. van Kreveld, Golan Miglioli-Levy, Micha Sharir. wafr 2021: 37-53 [doi]

Efficient Contact Mode Enumeration in 3DEric Huang, Xianyi Cheng, Matthew T. Mason. wafr 2021: 485-501 [doi]

Imitation Learning as f-Divergence MinimizationLiyiming Ke, Sanjiban Choudhury, Matt Barnes 0001, Wen Sun 0002, Gilwoo Lee, Siddhartha S. Srinivasa. wafr 2021: 313-329 [doi]

Neural Collision Clearance Estimator for Batched Motion PlanningJ. Chase Kew, Brian Ichter, Maryam Bandari, Tsang-Wei Edward Lee, Aleksandra Faust. wafr 2021: 73-89 [doi]

Inferring Obstacles and Path Validity from Visibility-Constrained DemonstrationsCraig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson. wafr 2021: 18-36 [doi]

Algorithmic Foundations of Robotics XIV, Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics, WAFR 2021, Oulu, Finland, June 21-23, 2021Steven M. LaValle, Ming Lin, Timo Ojala, Dylan A. Shell, Jingjin Yu, editors, Volume 17 of Springer Proceedings in Advanced Robotics, Springer, 2021. [doi]

Back-Propagation Through Signal Temporal Logic Specifications: Infusing Logical Structure into Gradient-Based MethodsKaren Leung, Nikos Aréchiga, Marco Pavone. wafr 2021: 432-449 [doi]

Every Action-Based SensorGrace McFassel, Dylan A. Shell. wafr 2021: 176-193 [doi]

Forward Chaining Hierarchical Partial-Order PlanningAndrew Messing, Seth Hutchinson 0001. wafr 2021: 364-380 [doi]

Experiments with Tractable Feedback in Robotic Planning Under Uncertainty: Insights over a Wide Range of Noise RegimesMohamed Naveed Gul Mohamed, Suman Chakravorty, Dylan A. Shell. wafr 2021: 414-431 [doi]

Information Requirements of Collision-Based MicromanipulationAlexandra Q. Nilles, Ana Pervan, Thomas A. Berrueta, Todd D. Murphey, Steven M. LaValle. wafr 2021: 210-226 [doi]

Visualizing Local Minima in Multi-robot Motion Planning Using Multilevel Morse TheoryAndreas Orthey, Marc Toussaint. wafr 2021: 502-517 [doi]

Planning to ChronicleHazhar Rahmani, Dylan A. Shell, Jason M. O'Kane. wafr 2021: 277-293 [doi]

Scalable Low-Rank Semidefinite Programming for Certifiably Correct Machine PerceptionDavid M. Rosen. wafr 2021: 551-566 [doi]

Approximation Algorithms for Distributed Multi-robot Coverage in Non-convex EnvironmentsArmin Sadeghi, Ahmad Bilal Asghar, Stephen L. Smith 0001. wafr 2021: 330-346 [doi]

Synchronized Multi-arm Rearrangement Guided by Mode Graphs with Capacity ConstraintsRahul Shome, Kostas E. Bekris. wafr 2021: 243-260 [doi]

Pushing the Boundaries of Asymptotic Optimality in Integrated Task and Motion PlanningRahul Shome, Daniel Nakhimovich, Kostas E. Bekris. wafr 2021: 467-484 [doi]

Hierarchical Multiobjective Shortest Path ProblemsKonstantin Slutsky, Dmitry S. Yershov, Tichakorn Wongpiromsarn, Emilio Frazzoli. wafr 2021: 261-276 [doi]

The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile ManipulationH. J. Terry Suh, Russ Tedrake. wafr 2021: 347-363 [doi]

On Rearrangement of Items Stored in StacksMario Szegedy, Jingjin Yu. wafr 2021: 518-533 [doi]

ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary ConditionsBrijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg. wafr 2021: 1-17 [doi]

Optimized Synthesis of Snapping FixturesTom Tsabar, Efi Fogel, Dan Halperin. wafr 2021: 143-158 [doi]

Evasive Navigation of an Autonomous Mobile Robot in Hostile Unknown EnvironmentsYaron Veksler, Elon D. Rimon. wafr 2021: 54-72 [doi]

Sampling-Based Motion Planning for Uncertain High-Dimensional Systems via Adaptive ControlChristos K. Verginis, Dimos V. Dimarogonas, Lydia E. Kavraki. wafr 2021: 159-175 [doi]

2020

Algorithmic Foundations of Robotics XII, Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics, WAFR 2016, San Francisco, California, USA, December 18-20, 2016Ken Goldberg, Pieter Abbeel, Kostas Bekris, Lauren Miller, editors, Volume 13 of Springer Proceedings in Advanced Robotics, Springer, 2020. [doi]

Algorithmic Foundations of Robotics XIII, Proceedings of the 13th Workshop on the Algorithmic Foundations of Robotics, WAFR 2018, Mérida, Mexico, December 9-11, 2018Marco Morales, Lydia Tapia, Gildardo Sánchez-Ante, Seth Hutchinson, editors, Volume 14 of Springer Proceedings in Advanced Robotics, Springer, 2020. [doi]

2018

Guided Exploration of Human Intentions for Human-Robot InteractionMin Chen 0018, David Hsu, Wee Sun Lee. wafr 2020: 921-938 [doi]

Pushing Fast and Slow: Task-Adaptive Planning for Non-prehensile Manipulation Under UncertaintyWisdom C. Agboh, Mehmet R. Dogar. wafr 2020: 160-176 [doi]

Balancing Unpredictability and Coverage in Adversarial Patrolling SettingsNicola Basilico, Stefano Carpin. wafr 2020: 762-777 [doi]

GP-SUM. Gaussian Process Filtering of non-Gaussian BeliefsMaria Bauzá, Alberto Rodriguez. wafr 2020: 508-525 [doi]

An Experimental Analysis on the Necessary and Sufficient Conditions for the RRT* Applied to Dynamical SystemsIsrael Becerra, Heikel Yervilla-Herrera, Rafael Murrieta-Cid. wafr 2020: 835-851 [doi]

Operation and Imitation Under Safety-Aware Shared ControlAlexander Broad, Todd Murphey, Brenna Argall. wafr 2020: 905-920 [doi]

flow: A Computational Graph for Automatic Motion Policy GenerationChing-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff. wafr 2020: 441-457 [doi]

Fast Swept Volume Estimation with Deep LearningHao-Tien Lewis Chiang, Aleksandra Faust, Satomi Sugaya, Lydia Tapia. wafr 2020: 52-68 [doi]

Learning Constraints from DemonstrationsGlen Chou, Dmitry Berenson, Necmiye Ozay. wafr 2020: 228-245 [doi]

Practical Exponential Coordinates Using Implicit Dual QuaternionsNeil T. Dantam. wafr 2020: 639-655 [doi]

Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory OptimizationTaosha Fan, Jarvis A. Schultz, Todd Murphey. wafr 2020: 689-706 [doi]

CADbots: Algorithmic Aspects of Manipulating Programmable Matter with Finite AutomataSándor P. Fekete, Robert Gmyr, Sabrina Hugo, Phillip Keldenich, Christian Scheffer, Arne Schmidt 0001. wafr 2020: 727-743 [doi]

Fast Collision Detection for Motion Planning Using Shape Primitive SkeletonsMukulika Ghosh, Shawna L. Thomas, Nancy M. Amato. wafr 2020: 36-51 [doi]

A Quasi-static Model and Simulation Approach for Pushing, Grasping, and JammingMathew Halm, Michael Posa. wafr 2020: 491-507 [doi]

Meta-learning Priors for Efficient Online Bayesian RegressionJames Harrison, Apoorva Sharma, Marco Pavone. wafr 2020: 318-337 [doi]

Semi-infinite Programming for Trajectory Optimization with Nonconvex ObstaclesKris Hauser. wafr 2020: 565-580 [doi]

A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation LearningJonathan N. Lee, Michael Laskey, Ajay Kumar Tanwani, Anil Aswani, Ken Goldberg. wafr 2020: 212-227 [doi]

Continuous Optimization Framework for Depth Sensor Viewpoint SelectionBehnam Maleki, Alen Alempijevic, Teresa A. Vidal-Calleja. wafr 2020: 357-372 [doi]

SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action ControlHaruki Nishimura, Mac Schwager. wafr 2020: 267-283 [doi]

Path Planning for Information Gathering with Lethal Hazards and No CommunicationMichael W. Otte, Donald A. Sofge. wafr 2020: 389-405 [doi]

A Performance Analysis of Parallel Differential Dynamic Programming on a GPUBrian Plancher, Scott Kuindersma. wafr 2020: 656-672 [doi]

The Hardness of Minimizing Design Cost Subject to Planning ProblemsFatemeh Zahra Saberifar, Jason M. O'Kane, Dylan A. Shell. wafr 2020: 868-883 [doi]

Hardness of 3D Motion Planning Under Obstacle UncertaintyLuke Shimanuki, Brian Axelrod. wafr 2020: 852-867 [doi]

Learning Stabilizable Dynamical Systems via Control Contraction MetricsSumeet Singh, Vikas Sindhwani, Jean-Jacques E. Slotine, Marco Pavone. wafr 2020: 179-195 [doi]

Learning a Spatial Field with Gaussian Process Regression in Minimum TimeVarun Suryan, Pratap Tokekar. wafr 2020: 301-317 [doi]

A Constrained Kalman Filter for Rigid Body Systems with Frictional ContactPatrick Varin, Scott Kuindersma. wafr 2020: 474-490 [doi]

Reactive Navigation in Partially Known Non-convex EnvironmentsVasileios Vasilopoulos, Daniel E. Koditschek. wafr 2020: 406-421 [doi]

Time-Optimal Motion of Spatial Dubins SystemsWeifu Wang, Devin J. Balkcom. wafr 2020: 529-544 [doi]

Dynamic Model of Planar SlidingJiayin Xie, Nilanjan Chakraborty. wafr 2020: 458-473 [doi]

Interlocking Block AssemblyYinan Zhang, Devin J. Balkcom. wafr 2020: 709-726 [doi]

An Approximation Algorithm for Risk-Averse Submodular OptimizationLiFeng Zhou, Pratap Tokekar. wafr 2020: 144-159 [doi]

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