Topology in Motion Planning

Howie Choset

Abstract

Much prior work in our research group is based on generalized Voronoi diagrams, which are nice maps, but derive their true strength from being topological maps that are embedded in the free space. Topological maps have been used inthe AI community, starting with Ben Kuipers inciteful work on distinvtive places and edges that connected them (although ironically he used a Voronoi diagram also). In this talk, I will try to formally define a topological map, and then talk about a handful of problems that exploit a topological map to achieve tasks including SLAM, optimal planning, and hybrid controls. Hopefully, I will be able to tie these ideas together in a unifying framework, but chances are, I will just be thinking out loud.

 

Speaker Appointments

For appointments, please contact Howie Choset (choset@cs.cmu.edu).