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Path planning for mobile robots in the real world: handling multiple objectives, hierarchical structures and partial information

Decanato - Facoltà di scienze informatiche

Data: 27 Giugno 2018 / 10:30 - 12:00

USI Lugano Campus, room SI-006, Informatics building (Via G. Buffi 13)

 

You are cordially invited to attend the PhD Dissertation Defense of Jérôme GUZZI on Wednesday June 27, 2018 at 10h30 in room SI-006 (Informatics building)

 

Abstract:

Autonomous robots in real-world environments face a number of challenges even to accomplish apparently simple tasks like moving to a given location.

We present four realistic scenarios in which robot navigation takes into account partial information, hierarchical structures, and multiple objectives.

We start by discussing navigation in indoor environments shared with people, where routes are characterized by effort, risk, and social impact.  Next, we improve navigation by computing optimal trajectories and implementing human-friendly local navigation behaviors. Finally, we move to outdoor environments, where robots rely on uncertain traversability estimations and need to account for the risk of getting stuck or having to change route.

 

Dissertation Committee:

  • Prof. Luca Maria Gambardella, IDSIA, Switzerland (Research Advisor)
  • Dr. Alessandro Giusti, IDSIA, Switzerland (Research co-Advisor)
  • Prof. Cesare Alippi, Università della Svizzera Italiana, Switzerland (Internal Member)
  • Prof. Evanthia Papadopoulou, Università della Svizzera Italiana, Switzerland (Internal Member)
  • Prof. Francesco Mondada, EPFL, Switzerland (External Member)
  • Prof. Domenico Sorrenti, Università degli Studi di Milano-Bicocca, Italy (External Member)