Related Publications:
Journal Articles
- A. Kitanov and V. Indelman, “Topological Belief Space Planning for Active SLAM with Pairwise Gaussian Potentials and Performance Guarantees,” International Journal of Robotics Research (IJRR), no. 1, 2024.
- A. Zhitnikov and V. Indelman, “Simplified Continuous High Dimensional Belief Space Planning with Adaptive Probabilistic Belief-dependent Constraints,” IEEE Transactions on Robotics (T-RO), 2024.
- A. Zhitnikov, O. Sztyglic, and V. Indelman, “No Compromise in Solution Quality: Speeding Up Belief-dependent Continuous POMDPs via Adaptive Multilevel Simplification,” International Journal of Robotics Research (IJRR), accepted, 2024.
- T. Yotam and V. Indelman, “Measurement Simplification in ρ-POMDP with Performance Guarantees,” IEEE Transactions on Robotics (T-RO), 2024.
- M. Barenboim, M. Shienman, and V. Indelman, “Monte Carlo Planning in Hybrid Belief POMDPs,” IEEE Robotics and Automation Letters (RA-L), no. 8, Aug. 2023.
- J. Placed et al., “A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers,” IEEE Transactions on Robotics (T-RO), no. 3, Jun. 2023.
- V. Tchuiev and V. Indelman, “Epistemic Uncertainty Aware Semantic Localization and Mapping for Inference and Belief Space Planning,” Artificial Intelligence, Special Issue on Risk-Aware Autonomous Systems, 2023.
- M. Barenboim, I. Lev-Yehudi, and V. Indelman, “Data Association Aware POMDP Planning with Hypothesis Pruning Performance Guarantees,” IEEE Robotics and Automation Letters (RA-L), no. 10, Oct. 2023.
- E. Farhi and V. Indelman, “Bayesian Incremental Inference Update by Re-using Calculations from Belief Space Planning: A New Paradigm,” Autonomous Robots, Aug. 2022.
- K. Elimelech and V. Indelman, “Simplified decision making in the belief space using belief sparsification,” International Journal of Robotics Research (IJRR), no. 5, Jun. 2022.
- D. Kopitkov and V. Indelman, “General Purpose Incremental Covariance Update and Efficient Belief Space Planning via Factor-Graph Propagation Action Tree,” International Journal of Robotics Research (IJRR), no. 14, Sep. 2019.
- T. Regev and V. Indelman, “Decentralized Multi-Robot Belief Space Planning in Unknown Environments via Identification and Efficient Re-Evaluation of Impacted Paths,” Autonomous Robots, Special Issue on Online Decision Making in Multi-Robot Coordination, no. 4, 2018.
- S. Pathak, A. Thomas, and V. Indelman, “A Unified Framework for Data Association Aware Belief Space Planning and Perception,” International Journal of Robotics Research (IJRR), no. 2-3, 2018.
- V. Indelman, “Cooperative Multi-Robot Belief Space Planning for Autonomous Navigation in Unknown Environments,” Autonomous Robots, Special Issue on Active Perception, 2017.
- D. Kopitkov and V. Indelman, “No Belief Propagation Required: Belief Space Planning in High-Dimensional State Spaces via Factor Graphs, Matrix Determinant Lemma and Re-use of Calculation,” International Journal of Robotics Research (IJRR), no. 10, 2017.
- V. Indelman, L. Carlone, and F. Dellaert, “Planning in the Continuous Domain: a Generalized Belief Space Approach for Autonomous Navigation in Unknown Environments,” International Journal of Robotics Research (IJRR), no. 7, 2015.
Conference Articles
- I. Lev-Yehudi, M. Barenboim, and V. Indelman, “Simplifying Complex Observation Models in Continuous POMDP Planning with Probabilistic Guarantees and Practice,” in 38th AAAI Conference on Artificial Intelligence (AAAI-24), Feb. 2024.
- T. Kundu, M. Rafaeli, and V. Indelman, “Multi-Robot Communication-Aware Cooperative Belief
Space Planning with Inconsistent Beliefs: An
Action-Consistent Approach,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2024.
- M. Barenboim and V. Indelman, “Online POMDP Planning with Anytime Deterministic Guarantees,” in Conference on Neural Information Processing Systems (NeurIPS), Dec. 2023.
- M. Shienman and V. Indelman, “D2A-BSP: Distilled Data Association Belief Space Planning with Performance Guarantees Under Budget Constraints,” in IEEE International Conference on Robotics and Automation (ICRA), *Outstanding Paper Award Finalist*, May 2022.
- M. Barenboim and V. Indelman, “Adaptive Information Belief Space Planning,” in the 31st International Joint Conference on Artificial Intelligence and the 25th European Conference on Artificial Intelligence (IJCAI-ECAI), Jul. 2022.
- I. Zilberman and V. Indelman, “Qualitative Belief Space Planning via Compositions,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2022.
- O. Sztyglic and V. Indelman, “Speeding up POMDP Planning via Simplification,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2022.
- M. Shienman and V. Indelman, “Nonmyopic Distilled Data Association Belief Space Planning Under Budget Constraints,” in International Symposium on Robotics Research (ISRR), Sep. 2022.
- O. Asraf and V. Indelman, “Experience-Based Prediction of Unknown Environments for Enhanced Belief Space Planning,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2020.
- E. Farhi and V. Indelman, “iX-BSP: Belief Space Planning through Incremental Expectation,” in IEEE International Conference on Robotics and Automation (ICRA), May 2019.
- K. Elimelech and V. Indelman, “PIVOT: Predictive Incremental Variable Ordering Tactic for Efficient Belief Space Planning,” in Workshop on Toward Online Optimal Control of Dynamic Robots, in conjunction with the IEEE International Conference on Robotics and Automation (ICRA), May 2019.
- E. Farhi and V. Indelman, “Tear Down that Wall: Calculation Reuse Across Inference and Belief Space Planning,” in Workshop on Toward Online Optimal Control of Dynamic Robots, in conjunction with the IEEE International Conference on Robotics and Automation (ICRA), May 2019.
- K. Elimelech and V. Indelman, “Introducing PIVOT: Predictive Incremental Variable Ordering Tactic for Efficient Belief Space Planning,” in International Symposium on Robotics Research (ISRR), Oct. 2019.
- K. Elimelech and V. Indelman, “Efficient Belief Space Planning using Sparse Approximations,” in RSS Pioneers Workshop, 2019.
- A. Kitanov and V. Indelman, “Topological Multi-Robot Belief Space Planning in Unknown Environments,” in IEEE International Conference on Robotics and Automation (ICRA), May 2018.
- Y. Ben-Elisha and V. Indelman, “Active Online Visual-Inertial Navigation and Sensor Calibration via Belief Space Planning and Factor Graph Based Incremental Smoothing,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2017.
- K. Elimelech and V. Indelman, “Fast Action Elimination for Efficient Decision Making and Belief Space Planning Using Bounded Approximations,” in International Symposium on Robotics Research (ISRR), Dec. 2017.
- T. Regev and V. Indelman, “Multi-Robot Decentralized Belief Space Planning in Unknown Environments via Efficient Re-Evaluation of Impacted Paths,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2016.
- V. Indelman, “Towards Multi-Robot Active Collaborative State Estimation via Belief Space Planning,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2015.
- V. Indelman, “Towards Cooperative Multi-Robot Belief Space Planning in Unknown Environments,” in International Symposium on Robotics Research (ISRR), Sep. 2015.
- V. Indelman, “On Multi-Robot Active Collaborative Inference in Unknown Environments via Belief Space Planning,” in Principles of Multi-Robot Systems, workshop in conjunction with Robotics Science and Systems (RSS) Conference, Jul. 2015.
- V. Indelman, L. Carlone, and F. Dellaert, “Planning Under Uncertainty in the Continuous Domain: a Generalized Belief Space Approach,” in IEEE International Conference on Robotics and Automation (ICRA), Jun. 2014.
- V. Indelman, L. Carlone, and F. Dellaert, “Towards Planning in Generalized Belief Space,” in International Symposium on Robotics Research (ISRR), Dec. 2013.
Technical Reports
- Y. Pariente and V. Indelman, “Simplification of Risk Averse POMDPs with Performance Guarantees,” 2024.
- G. Rotman and V. Indelman, “involve-MI: Informative Planning with High-Dimensional Non-Parametric Beliefs,” Sep. 2022.
- E. Farhi and V. Indelman, “iX-BSP: Incremental Belief Space Planning,” 2021.
- A. Zhitnikov and V. Indelman, “Probabilistic Loss and its Online Characterization
for Simplified Decision Making Under Uncertainty,” 2021.
- K. Elimelech and V. Indelman, “Efficient Belief Space Planning in High-Dimensional State Spaces using PIVOT: Predictive Incremental Variable Ordering Tactic,” 2021.
- O. Sztyglic, A. Zhitnikov, and V. Indelman, “Simplified Belief-Dependent Reward MCTS Planning with Guaranteed Tree Consistency,” May 2021.
- D. Kopitkov and V. Indelman, “General Purpose Incremental Covariance Update and Efficient Belief Space Planning via Factor-Graph Propagation Action Tree,” 2019.
- K. Elimelech and V. Indelman, “Efficient Decision Making and Belief Space Planning using Sparse Approximations,” 2019.
Book Chapters
- M. Shienman and V. Indelman, “Nonmyopic Distilled Data Association Belief Space Planning Under Budget Constraints,” in Robotics Research, Springer, 2023.
- K. Elimelech and V. Indelman, “Introducing PIVOT: Predictive Incremental Variable Ordering Tactic for Efficient Belief Space Planning,” in Robotics Research, Springer, 2022.
- K. Elimelech and V. Indelman, “Fast Action Elimination for Efficient Decision Making and Belief Space Planning Using Bounded Approximations,” in Robotics Research, Springer, 2020.
- V. Indelman, “Towards Cooperative Multi-Robot Belief Space Planning in Unknown Environments,” in Robotics Research, Springer, 2018.
- V. Indelman, L. Carlone, and F. Dellaert, “Towards Planning in Generalized Belief Space,” in Robotics Research, The 16th International Symposium ISRR, Springer, 2016, pp. 593–609.
Theses
- T. Yotam, “Measurement Simplification in ρ-POMDP with Performance Guarantees,” Master's thesis, Technion - Israel Institute of Technology, 2023.
- I. Zilberman, “Belief Space Planning using Qualitative Spatial Relationships,” Master's thesis, Technion - Israel Institute of Technology, 2022.
- G. Rotman, “Efficient Informative Planning with High-dimensional Non-Gaussian Beliefs by Exploiting Structure,” Master's thesis, Technion - Israel Institute of Technology, 2022.
- E. Farhi, “Joint Incremental Inference and Belief Space Planning for Online Operations of Autonomous systems,” PhD thesis, Technion - Israel Institute of Technology, 2021.
- V. Tchuiev, “Autonomous Classification Under Uncertainty,” PhD thesis, Technion - Israel Institute of Technology, 2021.
- K. Elimelech, “Efficient Decision Making under Uncertainty in High-Dimensional State Spaces,” PhD thesis, Technion - Israel Institute of Technology, 2021.
- O. Sztyglic, “Online Partially Observable Markov Decision Process Planning via Simplification,” Master's thesis, Technion - Israel Institute of Technology, 2021.
- O. Asraf, “Experience-Based Prediction of Unknown Environments for Enhanced Belief Space Planning,” Master's thesis, Technion - Israel Institute of Technology, 2020.
- S. Har-Nes, “Belief Space Planning for Autonomous Navigation while Modeling Landmark Identification,” Master's thesis, Technion - Israel Institute of Technology, 2017.
- A. Thomas, “Incorporating Data Association Within Belief Space Planning For Robust Autonomous Navigation,” Master's thesis, Technion - Israel Institute of Technology, 2017.
- D. Kopitkov, “Efficient Belief Space Planning in High-dimensional State Spaces by Exploiting Sparsity and Calculation Re-use,” Master's thesis, Technion - Israel Institute of Technology, 2017.
- Y. Ben-Elisha, “Cooperative Multi-Robot Belief Space Planning for Visual-Inertial Navigation and Online Sensor Calibration,” Master's thesis, Technion - Israel Institute of Technology, 2017.
- T. Regev, “Multi-Robot Decentralized Belief Space Planning in Unknown Environments,” Master's thesis, Technion - Israel Institute of Technology, 2016.