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Fall 2014 GRASP Seminar – Kris Hauser, Duke University, “Practical Robot Motion Planning”

November 14, 2014 @ 11:00 am - 12:00 pm

Abstract: Motion
planning — the problem of computing physical actions to complete a
specified task — has inspired some of the most theoretically rigorous
and beautiful results in robotics research.  But as robots proliferate
in real-world applications like household service, driverless cars,
warehouse automation, minimally-invasive surgery, search-and-rescue, and
unmanned aerial vehicles, we are beginning to
see the classical theory fall behind.  The clean assumptions of theory
are at odds with the dirty reality: robots must handle large amounts of
noisy sensor data, uncertainty, underspecified models, nonlinear and
hysteretic dynamic effects, exotic objective
functions and constraints, and real-time demands.  This talk will
present recent efforts to bring motion planners to bear on real robots,
in the context of three projects: 1) ladder climbing in the DARPA
Robotics Challenge; 2) intelligent user interfaces for
human-operated robots; and 3) navigation amongst many moving
obstacles.  I will present new planning algorithms and architectures
whose performance is backed both by theoretical guarantees and empirical


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Hauser is an Associate Professor at the Pratt School of Engineering at
Duke University with a joint appointment in the Electrical and Computer
Department and the Mechanical Engineering and Materials Science
Department. He received his PhD in Computer Science from Stanford
University in 2008, bachelor’s degrees in Computer Science and
Mathematics from UC Berkeley in 2003, and worked as a postdoctoral
fellow at UC Berkeley. He then joined the faculty at Indiana University
from 2009-2014, where he started the Intelligent Motion Lab. He is a
recipient of a Stanford Graduate Fellowship, Siebel Scholar Fellowship,
and an NSF CAREER award.


November 14, 2014
11:00 am - 12:00 pm
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