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RDATE:20341105T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20350311T030000 RDATE:20351104T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20360309T030000 RDATE:20361102T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20370308T030000 RDATE:20371101T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT END:VTIMEZONE BEGIN:VEVENT UID:ff04061b6c5947620ccea5982ecece8c CATEGORIES:Human and computer vision series:Fall 2012 CREATED:20151203T141543 SUMMARY:Progress in Algorithmic Motion Planning and Opportunities at the Intersection with Perceptual Science LOCATION:Rutgers University\, Department of Computer Science DESCRIPTION:
Abstract:
The area of motion planning studies algorithms that retu
rn actions that must be executed to accomplish a physical task. It has appl
ications in robotics, simulation, cyber-physical systems and human-centered
computing. This talk will first review recent progress in the field, speci
fically regarding (a) the efficient computation of asymptotically (near-)op
timal paths, (b) dealing with systems that exhibit non-trivial dynamics, (c
) and providing efficient algorithms for multi-agent path-finding. It will
then progress to view these contributions under the light of recent efforts
, such as the National Robotic Initiative, which emphasize the importance o
f bringing robots and people together to solve complex tasks. The talk will
propose a framework for reasoning about such interactions in an algorithmi
c manner, utilizing ideas from game theory. This direction provides researc
h opportunities that lie at the intersection of perceptual science and moti
on planning, such as utilizing and analyzing perceptual data in order to id
entify the intent of humans by robots that will assist in the completion of
a common task.
Background readings:
Books on m
otion planning:
- "Principles of Robot Motion, Th
eory, Algorithms, and Implementations" by
&n
bsp; Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kant
or, Wolfram Burgard, Lydia E. Kavraki and Sebastian Thrun
 
; http://mitpress.mit.edu/cata
log/item/default.asp?sid=E4EC74C1-3479-43A0-9A0F-A5AD6B73F4AA&ttype=2&a
mp;tid=10340
http://mitpress.mit.edu/catalog/item/default.asp?sid=E
4EC74C1-3479-43A0-9A0F-A5AD6B73F4AA&ttype=2&tid=10340">http://mitpr
ess.mit.edu/catalog/item/default.asp?sid=E4EC74C1-3479-43A0-9A0F-A5AD6B73F4
AA&ttype=2&tid=10340
/> - "Planning A
lgorithms" (open-access book) by
&n
bsp; Steve LaValle
&
nbsp; http://planning.cs.uiuc.edu/">http://planning.cs.uiuc.edu/
Related Papers: http://www.cse.unr.edu/robotics/pracsys/site
s/cse.unr.edu.robotics.pracsys/files/sparse_roadmap_spanner.pdf">http://www.cse.unr.edu/robotics/pracsy
s/sites/cse.unr.edu.robotics.pracsys/files/sparse_roadmap_spanner.pdf
a>
http://www.cse.unr.edu/robotics/pra
csys/sites/cse.unr.edu.robotics.pracsys/files/asynchronous_coordination_0.p
df">http://www.cse.unr.
edu/robotics/pracsys/sites/cse.unr.edu.robotics.pracsys/files/asynchronous_
coordination_0.pdf
http://www.cse.unr.e
du/robotics/pracsys/sites/cse.unr.edu.robotics.pracsys/files/push_and_swap_
iros.pdf">http://www.cse.unr.edu
/robotics/pracsys/sites/cse.unr.edu.robotics.pracsys/files/push_and_swap_ir
os.pdf
Abstract:
The area of motion planning studies algorithms that retu
rn actions that must be executed to accomplish a physical task. It has appl
ications in robotics, simulation, cyber-physical systems and human-centered
computing. This talk will first review recent progress in the field, speci
fically regarding (a) the efficient computation of asymptotically (near-)op
timal paths, (b) dealing with systems that exhibit non-trivial dynamics, (c
) and providing efficient algorithms for multi-agent path-finding. It will
then progress to view these contributions under the light of recent efforts
, such as the National Robotic Initiative, which emphasize the importance o
f bringing robots and people together to solve complex tasks. The talk will
propose a framework for reasoning about such interactions in an algorithmi
c manner, utilizing ideas from game theory. This direction provides researc
h opportunities that lie at the intersection of perceptual science and moti
on planning, such as utilizing and analyzing perceptual data in order to id
entify the intent of humans by robots that will assist in the completion of
a common task.
Background readings:
Books on m
otion planning:
- "Principles of Robot Motion, Th
eory, Algorithms, and Implementations" by
&n
bsp; Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kant
or, Wolfram Burgard, Lydia E. Kavraki and Sebastian Thrun
 
; ht
tp://mitpress.mit.edu/catalog/item/default.asp?sid=E4EC74C1-3479-43A0-9A0F-
A5AD6B73F4AA&ttype=2&tid=10340
http://mitpress.mit.edu/cata
log/item/default.asp?sid=E4EC74C1-3479-43A0-9A0F-A5AD6B73F4AA&ttype=2&a
mp;tid=10340">http://mitpress.mit.edu/catalog/item/default.asp?sid=E4EC74C1
-3479-43A0-9A0F-A5AD6B73F4AA&ttype=2&tid=10340
/>
- "Planning Algorithms" (open-access book) by
&
nbsp; Steve LaValle
 
; http://plannin
g.cs.uiuc.edu/">http://planning.
cs.uiuc.edu/
Related Papers:
http://www.cse.unr.edu/robotics/pracsys/s
ites/cse.unr.edu.robotics.pracsys/files/sparse_roadmap_spanner.pdf">http://www.cse.unr.edu/robotics/pra
csys/sites/cse.unr.edu.robotics.pracsys/files/sparse_roadmap_spanner.pdf
http:/
/www.cse.unr.edu/robotics/pracsys/sites/cse.unr.edu.robotics.pracsys/files/
asynchronous_coordination_0.pdf">http://www.cse.unr.edu/robotics/pracsys/sites/cse.unr.edu.robotic
s.pracsys/files/asynchronous_coordination_0.pdf
&
nbsp; http://www.cse.unr.edu/robotics/pracsys/
sites/cse.unr.edu.robotics.pracsys/files/push_and_swap_iros.pdf">http://www.cse.unr.edu/robotics/pracsys/si
tes/cse.unr.edu.robotics.pracsys/files/push_and_swap_iros.pdf