Loading Events

« All Events

  • This event has passed.

GRASP Special Seminar: Stephen L. Smith, University of Waterloo, “Balancing Expressivity and Efficiency in Robot Path Planning Languages”

November 11, 2014 @ 12:00 pm - 1:30 pm

Abstract: Robot path planners consist of a language for specifying tasks, and a solver for generating paths. There is generally a tradeoff between the expressivity of the language and efficiency of the solver. On one hand, specialized and fast planners have been developed for specific tasks including point-to-point motion and simple combinatorial tasks. On the other hand, multi-purpose planners based on linear temporal logics (LTL) can handle a wide range of robot tasks. This expressivity, however, comes at a cost, and these planners often struggle to solve large-scale problems.  This talk will present a new language for path planning problems called SAT-TSP, which seeks to strike a balance between expressivity and efficiency. The language, while not as expressive as LTL, allows a user to naturally express many motion planning problems for single and multiple robots.  The talk will summarize solver approaches for problems in this language and give a performance comparison. Several solvers show a link to the Generalized Traveling Salesman Problem (GTSP) and recent work on developing GTSP solvers will also be discussed.


- Learn More

Stephen L. Smith is an assistant professor in Electrical and Computer Engineering at the University of Waterloo, Canada. He received the BSc degree from Queen’s University, Canada in 2003, the MASc degree from the University of Toronto, Canada in 2005, and the PhD degree from the University of California, Santa Barbara in 2009. From 2009 to 2011 he was a postdoctoral researcher with the Computer Science & Artificial Intelligence Lab at the Massachusetts Institute of Technology. His main research interests lie in control and optimization for autonomous systems, with a particular emphasis on robotic motion planning and coordination.


November 11, 2014
12:00 pm - 1:30 pm
Event Category: