{"663363":{"#nid":"663363","#data":{"type":"event","title":"PhD Proposal by Zachary Goddard","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u0026nbsp;\u003C\/strong\u003EImproving Motion Primitive-based Planning for Dynamic Environments via Reinforcement Learning and Genetic Algorithms\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EDate:\u0026nbsp;\u003C\/strong\u003EMonday, December 5, 2022\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ETime:\u0026nbsp;\u003C\/strong\u003E1PM\u0026nbsp;EST\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ELocation:\u0026nbsp;\u003C\/strong\u003EMRDC 4211,\u0026nbsp;\u003Ca href=\u0022https:\/\/teams.microsoft.com\/l\/meetup-join\/19%3ameeting_YmEyODIyOTQtMzNkNC00YWVhLTg2ODctZDljOGIxOTI5NDJi%40thread.v2\/0?context=%7b%22Tid%22%3a%22482198bb-ae7b-4b25-8b7a-6d7f32faa083%22%2c%22Oid%22%3a%223e22115c-de4b-45a4-bc01-9eb934d29d35%22%7d\u0022 title=\u0022https:\/\/teams.microsoft.com\/l\/meetup-join\/19%3ameeting_YmEyODIyOTQtMzNkNC00YWVhLTg2ODctZDljOGIxOTI5NDJi%40thread.v2\/0?context=%7b%22Tid%22%3a%22482198bb-ae7b-4b25-8b7a-6d7f32faa083%22%2c%22Oid%22%3a%223e22115c-de4b-45a4-bc01-9eb934d29d35%22%7d\u0022\u003EVirtual\u003C\/a\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EZachary Goddard\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003ERobotics PhD Student\u003C\/p\u003E\r\n\r\n\u003Cp\u003ESchool of Mechanical Engineering\u003C\/p\u003E\r\n\r\n\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Anirban Mazumdar (Advisor) \u0026ndash; School of Mechanical Engineering, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Jonathan Rogers \u0026ndash; School of Aerospace Engineering, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Panagiotis Tsiotras \u0026ndash; School of Aerospace Engineering, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Seth Hutchinson \u0026ndash; School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Kyle Williams \u0026ndash; Pathfinder Technologies, Sandia National Laboratories\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EAbstract:\u0026nbsp;\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EMotion primitives provide a powerful means of rapid kinodynamic planning; however, the design of an effective primitive library for complex systems or tasks requires substantial expert knowledge. This work proposes an autonomous framework for learning motion primitives with minimal human input and demonstrates the process on simulated F-16 dynamics for navigation with and without obstacles. The framework combines deep reinforcement learning with our own contributions in the form of algorithms and shaping rewards to generate and select motion primitives for a maneuver automaton. Additionally, we contribute our own heuristics and post-processing algorithm to improve planning time with a state-of-the-art search algorithm, Hybrid A*. The demonstrated examples show significant improvement to the time to reach the goal on navigation tasks. This proposal also presents further work to extend this framework\u0026#39;s application to adversarial tasks, such as aerial dogfighting. Future work will include a formulation of game tree search to apply motion primitives to solve games with continuous state and action spaces. This search algorithm will be demonstrated with primitives learned directly from the adversarial environment using our framework.\u003C\/p\u003E\r\n","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Improving Motion Primitive-based Planning for Dynamic Environments via Reinforcement Learning and Genetic Algorithms"}],"uid":"27707","created_gmt":"2022-11-21 17:58:45","changed_gmt":"2022-11-21 17:58:45","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2022-12-05T13:00:00-05:00","event_time_end":"2022-12-05T15:00:00-05:00","event_time_end_last":"2022-12-05T15:00:00-05:00","gmt_time_start":"2022-12-05 18:00:00","gmt_time_end":"2022-12-05 20:00:00","gmt_time_end_last":"2022-12-05 20:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78761","name":"Faculty\/Staff"},{"id":"78771","name":"Public"},{"id":"78751","name":"Undergraduate students"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}