MRC Student Seminar: PiP-X: Funnel-based Online Feedback Motion Planning/Replanning

Friday, December 9, 2022
2:00 p.m.
LaToya Hale
301 405 3108

PiP-X: Funnel-based Online Feedback Motion Planning/Replanning in Dynamic Environments

Mohamed Khalid
Graduate Assistant
Aerospace Engineering Department
University of Maryland

We propose an online single-query sampling-based feedback motion re-planning algorithm using finite-time invariant sets, “funnels”. We combine concepts from nonlinear systems analysis, sampling-based motion planning, and graph-search methods to create a single framework that enables feedback motion planning/replanning for general nonlinear dynamical systems in a dynamic workspace. We introduce a novel graph data structure to represent a network of volumetric funnels, enabling the use of quick graph-replanning techniques. The use of incremental search techniques and a pre-computed library of motion-primitives ensure that our method can be used for quick on-the-fly rewiring of controllable motion plans in response to changes in the environment. We validate our approach on a simulated 6DOF quadrotor platform operating in a maze and random forest environment.

 About the Robotics Student Seminars
The Robotics Student Seminars at the University of Maryland College Park are a student-run series of talks given by current robotics students.

 The purpose of these talks is to:

  • Encourage interaction between Robotics students from different subfields;
  • Provide an opportunity for Robotics students to be aware of and possibly get involved in the research their peers are conducting;
  • Provide an opportunity for Robotics students to receive feedback on their current research;
  • Provide speaking opportunities for Robotics students.

 **Light refreshments will be served

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