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CANCELED: Spring 2014 GRASP Seminar: Kris Hauser, Indiana University, "Motion Planning For Real World Robots"
Presenter: Kris Hauser (Homepage)
Friday February 21, 2014 from 11:00am to 12:00pm
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, the classical theory appears to have fallen behind the pace of practice. At odds with the "clean" assumptions of theory, the reality is that 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 describe efforts to bring theory up to speed, 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 evaluation.
Kris Hauser 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’s Automation Lab. He has held his current position as Assistant Professor in Indiana University's School of Informatics and Computing since 2009, where he directs the Intelligent Motion Lab. He is a recipient of a Stanford Graduate Fellowship, Siebel Scholar Fellowship, and the NSF CAREER award. Research interests include robot motion planning and control, semiautonomous robots, and integrating perception and planning. Past applications of this research have included automated vehicle collision avoidance, robotic manipulation, robot-assisted medicine, and legged locomotion.
Lab website: http://www.iu.edu/~motion