Adaptive Informative Path Planning with Multi-modal Sensing (AIPPMS) considers the
problem of an agent equipped with multiple sensors, each with different sensing accuracy …

In active source seeking, a robot takes repeated measurements in order to locate a signal
source in a cluttered and unknown environment. A key component of an active source …

We consider the problem of an autonomous agent equipped with multiple sensors, each
with different sensing precision and energy costs. The agent's goal is to explore the …

Abstract adaptive informative path planning (AIPP) is important to many robotics
applications, enabling mobile robots to efficiently collect useful data about initially unknown …

To efficiently cover an environment, robots must be able to handle changes in occupancy
during execution. These occupancy dynamics are often stochastic, and so we cannot …

On the level of decision support, most algorithmic problems encountered in machine
learning are instances of pure prediction or pure automation tasks. This dissertation takes a …

This thesis explores different aspects of robot resiliency in path planning problems. Our goal
is to endow autonomous robots with the ability to be robust to uncertainty and adaptable so …