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DTSTART;TZID=America/New_York:20220414T133000
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SUMMARY:MEAM Seminar: "Exploiting Environmental Fields for Orienteering and Planning Problems"
DESCRIPTION:Robots are increasingly being used to complete tasks in complex environments. To complete these tasks\, two of the most fundamental choices that the robot must make are (1) task planning: which tasks to complete and in what order\, and (2) path planning: what path to take when navigating between those tasks. In this seminar\, I will consider robots operating in environments where the vehicle dynamics are impacted by the dynamics of the environment (environments with flows) while they complete these tasks. I begin by exploring several limitations of existing strategies that tackle task and path planning in environments with flows as separate problems. First\, I examine a problem that focuses on the high level problem of task planning\, but abstracts away the environment and assumes that the low-level path planning work is solved independently. This helps simplify the problem\, but neglects to include environmental information in the problem. In order to address this limitation\, I consider a path planning algorithm in an environment where the flow field can be designed. In particular\, I consider a scenario where a magnetic force field is used to manipulate the flow field. In this case\, I show how a topological approach can be used to take advantage of the structures in the field. Finally\, I examine a scenario where the flow field is determined by ocean currents and therefore cannot be controlled. I will present an integrated solution approach to task and path planning that unifies the two problems in the presence of ocean currents.
URL:https://seasevents.nmsdev7.com/event/meam-seminar-exploiting-environmental-fields-for-orienteering-and-planning-problems/
LOCATION:Zoom – Email MEAM for Link\, peterlit@seas.upenn.edu
CATEGORIES:Seminar,Doctoral
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
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