Events Calendar

PhD Thesis Proposal - Baskin B. Senbaslar

Title:
Thesis Proposal: Real-time Trajectory Planning for Mobile Robot Navigation in Cluttered Environments

Committee:
Gaurav Sukhatme (Chair), Laurent Itti, Mihailo R. Jovanovic, Sven Koenig, and Satish Kumar Thittamaranahalli

Date:
Thursday, February 9th, 12:30pm PST

Location:
RTH 406

Zoom Meeting Details:
https://usc.zoom.us/j/97713760524?pwd=Ynh5enZTTzlTZmNpdW5FWmlGSGhtQT09

Abstract:
Collision-free mobile robot navigation in cluttered environments is a central problem for many robotics applications. In such environments, obstacles can be static, i.e. stationary, or dynamic, i.e. moving. Dynamic obstacles can be cooperative or non-cooperative. Non-cooperative dynamic obstacles can be interactive, i.e. changing their behavior according to the behavior of other entities, or not interactive. Navigation in such environments with obstacles with different behavior modalities require real-time decision making capabilities.

In this thesis proposal, we investigate the safety requirements against these different types of objects, and develop a real-time trajectory planning algorithm satisfying the safety requirements. We investigate the context in which the planner should be used and delve into its interaction with other system components, including reactive controllers and global trajectory planners

Location: Ronald Tutor Hall of Engineering (RTH) - 406

WebCast Link: https://usc.zoom.us/j/97713760524?pwd=Ynh5enZTTzlTZmNpdW5FWmlGSGhtQT09

Audiences: Everyone Is Invited

Contact: Assistant to CS chair