Jumman Hossain

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EnCoMP · ACSOS 2024

EnCoMP: Enhanced Covert Maneuver Planning with Adaptive Target-Aware Visibility Estimation using Offline Reinforcement Learning

Jumman Hossain, Abu-Zaher Faridee, Nirmalya Roy, Jade Freeman, Timothy Gregory, Theron Trout

PaperarXiv

Using target-aware visibility estimates and offline reinforcement learning to plan cover-aware maneuvers.

Navigation planning scene used to study visibility-aware maneuvering
Navigation planning scene used to study visibility-aware maneuvering. Full-resolution image

Overview

A robot navigating near obstacles may need to consider how visible its route is from another location, as well as whether the route is traversable.

EnCoMP incorporates adaptive, target-aware visibility estimation into offline reinforcement learning for maneuver planning.

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