Safe path planning in polynomial space using root locus principle by Dr. Nak-seung Patrick Hyun

Speaker

Nak-seung Patrick Hyun (Ph.D, Mathematical System Theory Laboratory, Georgia Institute of Technology)

Time & Location

June 03 (Fri) 15:00 / Building 133 Room 316-1

Abstract

In this talk, the speaker details a framework to create a set of trajectories, all guaranteed to avoid known obstacles or other robots, using the generalized root locus (GRL). The creation of harmonic potential fields followed by generalized root locus analysis leads to a set of parameterized curves, whose gradient dynamics uniquely generate the curves. Next, the curve generation is addressed by considering three reparameterizations of the GRL which propagate at different speeds. After defining the set of admissible paths via the GRL, a simpler method to solve the minimum time problem in the new framework with and without the state dependent speed constraints along the path is proposed. In the second part of the talk, multi-agent robots path planning problem is considered. Especially, permutation invariant and inter-collision free trajectories for a formation control problem are generated by GRL. A polynomial based representation space of multiple robots in two dimensional space is proposed, and the invariant properties in this space are analyzed. The formation control problem is solved in the representation space. A set of permutation invariant trajectories is generated by the generalized root locus dynamics. This method can be realized without the knowledge of global coordinates, but only with the local interaction between robots. In addition, the generalized root locus principle gives one degree of freedom to choose a different assignment in the formation. At the end, an example of permutation invariant safe control is provided.

Bibiography

2002.03~2009.02 B.S in Electrical Engineering (EE), Korea University
2009.08~2013.08 Graduate Teaching Assistant in ECE and Mathematics
2013.05 M.S. in Electrical and Computer Engineering
2013.12 M.S. in Mathematics
2009.09~2016.12 Ph.D program in Electrical and Computer Engineering(ECE), Georgia Institute of Technology, Atlanta, Georgia, USA
2004.09~2005.10 Software developer, EasyBender R&D center, Gyeonggi-do, Korea
2005.11~2006.12 Software developer, NACSSNET, Seoul, Korea
2011.08~2012.01 Software developer, Emory University Department of Behavioral Science and Psychology in Yerkes National Primate Research Center, Atlanta, Georgia, USA

Language

Korean