CS Events

PhD Defense

Some Problems on Multi-Sensor Layout Optimization

 

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Monday, June 19, 2023, 04:00pm - 06:00pm

 

Abstract: Robots or robotic applications, like living beings, perceive the world through a great variety of sensors. For range sensors, be it acoustic like sonar, photic like cameras, laser beams, or lidars, the sensing range can, to some extent, be ideally abstracted as either 1D lines or 2D circles. Hence, it would be helpful to study the properties of the underlying geometric problems, and studying these problems can in turn help with getting the optimal solution of these problems.

 

The thesis starts with two 1-D sensing models (homogeneous and heterogeneous) for covering the boundary of a 2D region with gaps created by obstacles, then it gets into coverage with a 2D sensing model for both the interior and the boundary of a 2D region. These two problems can be seen as variants of barrier coverage problems that separate the inside of certain regions from the outside. We then generalize the barrier coverage problem by formulating the problem of separating more than two sets of regions, which we termed as the barrier forming problem. As the most common sensing robots are mobile, we continue to study mobile sensing robots forming a wavefront to sweep a region, and this turns out to be similar to the perimeter guarding problem with evolving perimeters and connects to the first problem studied. Lastly, we introduce a relevant real-world application for placing UV lights for sanitizing 3D surfaces like hospital rooms, trains, or buses.

 

Speaker: Siwei Feng

Location : Virtual

Committee

Prof. Jingjin Yu (Chair)

Prof. Kostas Bekris

Prof. Abdeslam Boularias

Dr. Zherong Pan (Tencent America)

 

Event Type: PhD Defense

Abstract: See above

Organization

Rutgers University

School of Arts & Sciences

Department of Computer Science

 

Contact  Professor Jingjin Yu

Zoom Link: https://rutgers.zoom.us/my/sf639?pwd=d1NSd0tuZ3hJR1hNVmtyNGszSEV0QT09