{"381411":{"#nid":"381411","#data":{"type":"event","title":"Ph.D Defense by Tobias Kunz","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle: Time-Optimal Sampling-Based Motion Planning for Manipulators with Acceleration Limits\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ETobias Kunz\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003ERobotics PhD Candidate\u003C\/p\u003E\u003Cp\u003ESchool of Interactive Computing\u003C\/p\u003E\u003Cp\u003ECollege of Computing\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u003Ca href=\u0022http:\/\/www.cc.gatech.edu\/~tobias\/\u0022 target=\u0022_blank\u0022\u003Ehttp:\/\/www.cc.gatech.edu\/~tobias\/\u003C\/a\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EDate: Monday, March 9, 2015\u003C\/p\u003E\u003Cp\u003ETime: 11:15 am - 1:15 pm\u003C\/p\u003E\u003Cp\u003ELocation: College of Computing Building, Room 345\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EDr. Henrik Christensen (Advisor), School of Interactive Computing, Georgia Tech\u003C\/p\u003E\u003Cp\u003EDr. Andrea Thomaz, School of Interactive Computing, Georgia Tech\u003C\/p\u003E\u003Cp\u003EDr. Karen Liu, School of Interactive Computing, Georgia Tech\u003C\/p\u003E\u003Cp\u003EDr. Magnus Egerstedt, School of Electrical and Computer Engineering, Georgia Tech\u003C\/p\u003E\u003Cp\u003EDr. Steven LaValle, Department of Computer Science, University of Illinois at Urbana-Champaign\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003E\u0026nbsp;\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003ERobot actuators have physical limitations in how fast they can change their velocity. The more accurately planning algorithms consider these limitations, the better the robot is able to perform.\u003C\/p\u003E\u003Cp\u003ESampling-based algorithms have been successful in geometric domains, which ignore actuator limitations. They are simple, parameter-free, probabilistically complete and fast. Even though some algorithms like RRTs were specifically designed for kinodynamic problems, which take actuator limitations into account, they are less efficient in these domains or are, as we show, not probabilistically complete.\u003C\/p\u003E\u003Cp\u003EA common approach to this problem is to decompose it, first planning a geometric path and then time-parameterizing it such that actuator constraints are satisfied. We improve the reliability of the latter step. However, the decomposition approach can neither deal with non-zero start or goal velocities nor provides an optimal solution.\u003C\/p\u003E\u003Cp\u003EWe demonstrate that sampling-based algorithms can be extended to consider actuator limitations in the form of acceleration limits while retaining the same advantageous properties as in geometric domains. We present an asymptotically optimal planner by combining a steering method with the RRT* algorithm. In addition, we present hierarchical rejection sampling to improve the efficiency of informed kinodynamic planning in high-dimensional spaces.\u003C\/p\u003E","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Time-Optimal Sampling-Based Motion Planning for Manipulators with Acceleration Limits"}],"uid":"27707","created_gmt":"2015-02-24 10:34:47","changed_gmt":"2016-10-08 01:48:32","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2015-03-09T12:15:00-04:00","event_time_end":"2015-03-09T14:15:00-04:00","event_time_end_last":"2015-03-09T14:15:00-04:00","gmt_time_start":"2015-03-09 16:15:00","gmt_time_end":"2015-03-09 18:15:00","gmt_time_end_last":"2015-03-09 18:15:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"208","name":"computing"},{"id":"1366","name":"defense"},{"id":"1808","name":"graduate students"},{"id":"913","name":"PhD"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}