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Multi-robot motion planning: theory and practice

Wednesday, March 7th, 2018, 16:10

Schreiber 309


Multi-robot motion planning: theory and practice

Kiril Solovey, TAU


Motion planning is a fundamental problem in robotics concerned with allowing autonomous robots to efficiently navigate in environments cluttered with obstacles. Although motion planning has originated as a strictly theoretical problem in computer science, it is applied nowadays in various fields such as computational biology, computer graphics, and most naturally robotics. Unfortunately, motion planning is notoriously challenging---both theoretically and practically---and many aspects of the problem are not sufficiently understood, even after 30 years of extensive multidisciplinary research.
In this talk I will present results developed during my PhD studies concerning various algorithmic aspects of motion planning. I will put special emphasis on multi-robot systems, which pose a great challenge due to their high-dimensional search space. In the second part of the talk I will present several new results on the theoretical foundations of sampling-based planners, which are extensively used in practice.
The talk is based on work developed with my advisor Prof. Dan Halperin. Part of the contributions that will be presented are a result of collaboration with Oren Salzman, Michal Kleinbort, Aviel Atias, Mark de Berg, Aviv Adler, Jingjin Yu, Or Zamir, Rahul Shome, Andrew Dobson, and Kostas Bekris.
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