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Spring 2022 GRASP SFI: Rahul Mangharam, University of Pennsylvania, “Balancing Performance and Safety in Autonomous Vehicles”
March 30 @ 3:00 pm - 4:00 pm
*This was a HYBRID Event with in-person attendance in Levine 512 and Virtual attendance…
Balancing performance and safety are crucial to deploying autonomous vehicles in multi-agent environments. In particular, autonomous racing is a domain that penalizes safe but conservative policies, highlighting the need for robust, adaptive strategies. Current approaches either make simplifying assumptions about other agents or lack robust mechanisms for online adaptation. In this talk we will explore research themes on perception, planning and control at the limits of performance. We explore (1) How to build the most efficient autonomous racecar with Multi-domain optimization across vehicle design, planning and control; (2) How to generate the most competitive agents who dynamically balance safety and assertiveness by using distributionally robust online adaptation; We realize all our research in the https://f1tenth.org autonomous racecar platform that is 10th the size, but 10x the fun! The main take away from this talk is how you can get involved in very exciting research on safe autonomous systems. I will also present projects on AV Bus and AV Gokart that we are doing in the Autoware Center of Excellence for Autonomous Driving at Pennovation.