Autonomy Talks - 21/06/22

Speaker: Dr. Jonathan Gammell, University of Oxford

Title: Measuring and Planning Motion in Robotics

Abstract: Autonomous robots are being used to solve increasingly difficult real-world applications. These new uses are promising but highlight the limitations of current approaches. Advancing the state of the art will require significant research on core problems in robotics, including motion estimation and motion planning.

This talk will present our work to understand these problems and use this knowledge to design better algorithms. It will first present our work on multimotion estimation and then a more detailed discussion on planning in continuous search spaces. The first extends the success of Visual Odometry (VO) to measuring other motions in the scene. The second unifies and extends informed, graph-based search (e.g., A*) and anytime, sampling-based planning (e.g., RRT*) to create informed, anytime sampling-based planning algorithms for a variety of problems in continuous spaces. These algorithms exploit universal properties of planning to perform better on many real-world robotic planning problems, especially in the presence of complex constraints or high state dimensions.

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