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Foundations of Robotics
Seminar, November 1, 2006
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
From Path Planning to
Motion Planning with Differential Constraints
Peng Cheng
Smith Hall 100
Refreshments 4:15 pm
Talk 4:30 pm
The insufficiency of classical path planning
for robotic systems subject to differential constraints in various
applications, such as embedded system verification, micromanipulation, and air
traffic control, motivates recent efforts to develop motion planning algorithms
for systems with differential constraints (MPD). Compared to the well understood path
planning problems, MPD is still quite primitives in its problem formulation,
complexity, decidability, algorithm design and analysis, and application
exploration. In this talk, I will
present some of my recent results along this direction. First, I will give a partial answer to the
decidability question. Based on an
abstract formulation and an incremental decision algorithm, I present
sufficient conditions for decidable MPD problems, which are applied on several
non trivial MPD problems. For example, the existence of a trajectory for a
DubinĄ¯s car with a rigid body between two configurations in a polygonal
environment with a finite number of discontinuities in curvature is decidable. Secondly, I will talk about the application
of MPD in verification of controllers of embedded systems under
uncertainties. MPD algorithms are used
to explore the uncertainty space looking for falsifying controls leading to
controller failures, and resolution completeness is used to infer the
controller safety when no falsifying controls are returned in finite time. Lastly, I will talk about motion planning for
a practical system, the roller racer. Techniques
from motion modeling, characterization, control, and planning are incorporated
to design motions between any two positions and orientations with zero
velocities using a single steering angle control.
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Speaker Bio |
Peng Cheng received his Ph.D. in 2005 from
department of computer science of University of Illinois at Urbana-Champaign
under supervision of Dr. Steve LaValle, and now is working with Dr. Vijay Kumar
as a Postdoctoral fellow in GRASP lab at University of Pennsylvania. He is interested in studying motion planning,
control, modeling, and characterization of various systems under differential
constraints, with applications in verification, micromanipulation, multiple
heterogeneous vehicle coverage, cable-driven robots, computational biology, and
computer animation.
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Speaker Appointments |
For appointments, please contact Howie
Choset (choset@cs.cmu.edu)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.