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UID:0-459@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20161114T163000

DTEND;TZID=Asia/Jerusalem:20161114T173000

DTSTAMP:20230603T190719Z

URL:https://aerospace.technion.ac.il/events/task-assignment-and-motion-pla
 nning-in-the-presence-of-obstacles/

SUMMARY:Task Assignment and Motion Planning in the Presence of Obstacles
DESCRIPTION:Lecturer:Yoav Gottlieb\n Faculty:Department of Aerospace Engine
 ering\n Institute:Technion – Israel Institute of Technology\n Location:C
 lassroom 165\, ground floor\, Library\, Aerospace Eng.\n Zoom: \n Abstract
 : \n Details: \n In many civil and military missions unmanned vehicles may
  be expected to cooperate with each other and act as a team. Two main aspe
 cts of the cooperation are addressed in this research - motion planning an
 d task assignment\, and the coupling between them. In our problem of inter
 est Dubins and Reeds-Shepp dynamics are used to model aerial and ground ve
 hicles’ kinematics\, obstacles are assumed scattered in a 2D environment
 \, and multiple targets need be serviced possibly with some priority. In t
 he seminar an approach will first be presented that enables posing in an i
 ntegrative manner and solving the two aspects associated with this problem
  of motion planning and task assignment. It is based on using relaxed Dubi
 ns and Reeds-Shepp paths (that do not enforce a final heading constraint) 
 from each target to the next\, thus making each path independent on the ne
 xt task. Deterministic and stochastic search algorithms\, for solving the 
 motion planning problem\, will be presented. For solving the task assignme
 nt problem\, coupled with the motion planning one\, two deterministic\, he
 uristic and exhaustive\, search algorithms will be presented. The results 
 of sample runs and a Monte-Carlo simulations study will be presented and d
 iscussed.
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Eng.

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DTSTART:20161030T010000

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