UNCC College of Computing and Informatics

Graduate Seminar (2009 Fall)

Title: Perceiving Guaranteed Continuously Collision-free Robot Trajectories

Rayomand Vatcha

Ph.D student

Department of Computer Science

University of North Carolina at Charlotte

October 9 at 3:00pm
106 Woodward

Abstract:

This talk addresses continuous collision checking of a robot trajectory in a completely unknown and unpredictable environment, i.e., obstacles are unknown and their motions are also unknown. Using the novel concept of the dynamic envelope and atomic obstacles based on sensing, we can discover if a robot at configuration q at a future time t is guaranteed collision-free or not. We further show that, if at (q, t) in the robot's configuration-time space (CT-space), the robot is discovered collision-free, a neighborhood (CT-region) of (q, t) is also guaranteed collision-free. Based on that, given a continuous robot trajectory, we present a method to compute a set of discrete CT-points such that, if these points are discovered collision- free, the continuous trajectory is guaranteed collision-free.

Bio:

Rayomand Vatcha received his M.S. degree in Computer Science at University of North Carolina at Charlotte in 2006. In 2007, he was adjuct faculty at ITT Technical Institute-Charlotte and King's College in Charlotte. Since 2008, he has been a Ph.D. student in Computer Science with research focus on Intelligent Robotics. His major research interest includes enabling motion-planners to perceive collision-free motions of a robot in unknown and unpredictable environments, through sensing in real-time.

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