Robot Motion Planning
Kumar Lab’s work in motion planning has three goals. First, they are interested in topological representations of the set of possible trajectories called homologies, the effect of environment uncertainty on these homology classes, and exploration of partially known environments by multiple robots using topological (instead of metric) information. Second, they are interested in how these topological representations can lead to natural human robot interaction. Finally, they are interested in motion planning algorithms for large teams of robots with dynamic constraints, especially when the robots are identical and therefore interchangeable.