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SUMMARY:CANCELLED!! MechE Colloquium: Motion Planning with Precedence Spec
 ifications via Augmented Graphs of Convex Sets
DTSTART:20251118T120000
DTEND:20251118T130000
DTSTAMP:20260916T232048Z
UID:813eec9809785df53fbdf3d42fc04986684fc87bcea3227617941b94
CATEGORIES:Conferences - Seminars
DESCRIPTION:Prof. Tyler Summer\, Department of Mechanical Engineering\, Th
 e University of Texas at Dallas\nAbstract: This talk will present a metho
 d for planning optimal trajectories that avoid obstacles and satisfy key-d
 oor precedence specifications expressed with a fragment of signal temporal
  logic. The method includes a novel exact convex partitioning of the obsta
 cle free space that encodes connectivity among convex free space sets\, ke
 y sets\, and door sets. We then construct an augmented graph of convex set
 s that exactly encodes the key-door precedence specifications. By solving 
 a shortest path problem in this augmented graph of convex sets\, our appro
 ach provides an exact solution up to a finite parameterization of the traj
 ectory. To illustrate the effectiveness of the approach\, a method is pres
 ented to generate key-door mazes that provide challenging problem instance
 s\, along with numerical experiments to illustrate the performance of the 
 proposed pipeline. The pipeline is faster by several orders of magnitude t
 han recent state-of-the art methods that use general purpose temporal logi
 c tools. \n\nBiography: Tyler Summers is an associate professor at the U
 niversity of Texas at Dallas. Prior to joining UT Dallas\, he was an ETH 
 Postdoctoral Fellow at the Automatic Control Laboratory at ETH Zurich from
  2011 to 2015. He received a PhD degree in Aerospace Engineering at the Un
 iversity of Texas at Austin in 2010. He was a Fulbright Postgraduate Schol
 ar at the Australian National University in Canberra\, Australia in 2007-2
 008. He received the National Science Foundation CAREER Award in 2021 and 
 a Young Investigator Program award from the US Army Research Office in 20
 17. His research interests are in feedback control\, optimization\, and le
 arning in complex dynamical networks\, with applications in robotics and p
 ower networks.
LOCATION:CM 1 4 https://plan.epfl.ch/?room==CM%201%204 https://epfl.zoom.u
 s/j/61360740951
STATUS:CONFIRMED
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