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Pre-Defense: Compact Representations for Efficient Robot Motion Planning with Formal Guarantees

Abstract: 

This work provides compact representations for
single- and multi-robot motion planning in the context of prehensile
robot manipulation. This work explores asymptotic near-optimality
and probabilistic near-optimality of these planners. This allows for
lightweight storage of planning structures which are quick to query,
and provides probabilistic bounds on path quality after finite
computation. A compact representations for n-arm manipulation is
given and efficient planning methods for multi-robot planning
involving object hand-offs are provided. This work provides
significant groundwork for asymptotically-optimal integrated task and
motion planning problems using lightweight data structures.

Speaker: 

Andrew Dobson

Location: 

CBIM 22

Event Date: 
06/13/2017 - 2:00pm
Committee: 

Prof. Kostas Bekris (Chair), Prof. Jinjing Yu, Prof. William Stieger, Prof. Devin Balkcom, Dartmouth University

Event Type: 

Pre-Defense

Organization: 

Dept. of Computer Science