Events Calendar

CS Colloquium

Speaker: Professor Han-Lim Choi , Division of Aerospace Engineering, KAIST

Talk Title: Robust Planning of Distributed Robotic Agents

Abstract: This seminar presents high-level planning approaches for networked robotic agents when the mission objective is to extract information in a dynamic uncertain environment. The talk discusses methodologies to perform robust distributed task planning for a heterogeneous team of agents performing cooperative missions. We
present the consensus-based bundle algorithm (CBBA) which is a decentralized cooperative iterative auction algorithm for assigning tasks to agents. CBBA uses two phases to achieve a conflict-free task assignment. A key feature of CBBA is that its consensus protocol aims at agreement on the winning bids and corresponding winning agents (i.e., consensus in the spaces of decision variables and objective function). This enables CBBA to create conflict-free solutions that are relatively robust to inconsistencies in the current situational awareness. Recent extensions to handle more realistic multi-UAV operational complications such as communication limitation and coupling in mission descriptions will also be reported.


Biography: Dr. Han-Lim Choi is an Assistant Professor of Aerospace Engineering at KAIST (Korea Advanced Institute of Science and Technology). He received his B.S. and M.S. degrees in Aerospace Engineering from KAIST, Daejeon, Korea, in 2002 and 2002, respectively, and his PhD degree in Aeronautics and Astronautics from Massachusetts Institute of Technology (MIT), Cambridge, MA, USA, in 2008. He then studied for one and a half years at MIT as a postdoctoral associate until he has joined KAIST in 2010. His current research interests include estimation and control for sensor networks, decision making for multi-gent systems, and resource management for power-aware systems. He is a member of IEEE and AIAA; he is selected to be awarded
Automatica Best Applications Paper Prize with his paper on continuous trajectory planning of mobile sensors for informative forecasting.


Host: Prof. Milind Tambe

Location: Seaver Science Library (SSL) - 150

Audiences: Everyone Is Invited

Contact: Kanak Agrawal