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UID:733@lincs.fr
DTSTART;TZID=Europe/Paris:20221214T150000
DTEND;TZID=Europe/Paris:20221214T160000
DTSTAMP:20221220T084748Z
URL:https://www.lincs.fr/events/pa-coda/
SUMMARY:PA-CODA: Planner-Agnostic Collision Detection and Avoidance for
 Multi-Robot Navigation
DESCRIPTION:Coordinated path planning and motion control are crucial for
 collision-free navigation of a fleet of robots that share a space and
 potentially contend for the same paths and passages. Many existing
 navigation software packages are designed for single-robot navigation and
 treat other robots as any other observed obstacle\, but this strategy alone
 is not sufficient for the system to work reliably. The ability to use the
 existing single-robot stacks without modification while also achieving
 coordination has high practical value. This talk will present a system that
 achieves coordination without modifying the path planner or motion
 controller. The only requirement\, which exists already in most navigation
 stacks and is otherwise easy to implement using existing interfaces\, is
 that the navigation stack provide interfaces for injecting dynamic
 prohibition regions into the cost map and for requesting that the robot
 temporarily stop its motion. The system\, which we call PA-CODA\, observes
 the robots’ intents and uses a learned hidden Markov model to anticipate
 collisions\, which are then avoided by manipulating the cost map or
 temporarily stopping one or more robots. We ran a series of experiments
 with real robots to demonstrate PA-CODA’s ability to successfully detect
 and avoid collisions.
CATEGORIES:Seminars,Youtube
LOCATION:Room 4B01\, 19 place Marguerite Perey\, Palaiseau\, France
X-APPLE-STRUCTURED-LOCATION;VALUE=URI;X-ADDRESS=19 place Marguerite Perey\,
 Palaiseau\, France;X-APPLE-RADIUS=100;X-TITLE=Room 4B01:geo:0,0
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TZID:Europe/Paris
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DTSTART:20221030T020000
TZOFFSETFROM:+0200
TZOFFSETTO:+0100
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