This is a hybrid event with in-person attendance in Wu and Chen and virtual attendance via Zoom. This week’s presenter will be virtual.

ABSTRACT

Factor graphs have been very successful in providing a lingua franca in which to phrase robotics perception and navigation problems. In this talk I will re-visit some of those successes, also discussed in depth in a recent review article. However, I will focus on our more recent work in the talk, centered on using factor graphs for *action*. I will discuss our efforts in motion planning, trajectory optimization, optimal control, and model-predictive control, highlighting SCATE, our recent work on collision avoidance for autonomous spacecraft.