Planning answers the question “How should I act?” This is an essential part of the autonomy pipeline as these algorithms govern how we interact with the world.

This is quite difficult as the planning problem makes use of the outputs from localisation, mapping and perception, and imposes additional challenges such as dynamic obstacles, vehicle limitations and real-time constraints. These algorithms must be reliable for platforms spanning from a few kilograms to many-tonne vehicles.

In addition to conventional motion planning, we are investigating other planning applications such as exploration for mapping, reducing energy consumption and learning from expert demonstration.


Our latest research

Risky Planning: Path Planning over Costmaps with a Probabilistically Bounded Speed-Accuracy Tradeoff

Abstract— This paper is about generating plans over uncertain maps quickly. Our approach combines the ALT (A* search, landmarks and ...
Read More

Planning to Perceive: Exploiting Mobility For Robust Object Detection

Abstract - Consider the task of a mobile robot autonomously navigating through an environment while detecting and mapping objects of interest ...
Read More

Non-parametric Learning for Natural Plan Generation

We present a novel way to learn sampling distributions for sampling-based motion planners by making use of expert data. We ...
Read More

Planning Most-Likely Paths from Overhead Imagery

In this work, we are concerned with planning paths from overhead imagery. The novelty here lies in taking explicit account of uncertainty in ...
Read More

Teaching a Randomized Planner to plan with Semantic fields

 Abstract—This paper presents a novel way to bias the sampling domain of stochastic planners by learning from example plans. We ...
Read More