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Fall 2014 GRASP Seminar - Kris Hauser, Duke University, "Practical Robot Motion Planning"
Presenter: Kris Hauser (Homepage)
Friday November 14, 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, 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 evaluation.
Kris Hauser is an Associate Professor at the Pratt School of Engineering at Duke University with a joint appointment in the Electrical and Computer Engineering 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.