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Spring 2023 GRASP SFI: Ram Vasudevan, University of Michigan, “Can’t Touch This: Real-Time, Provably Safe Motion Planning and Control for High Dimensional Autonomous Systems”
March 29, 2023 @ 3:00 pm - 4:00 pm
This was a hybrid event with in-person attendance in Levine 307 and virtual attendance…
ABSTRACT
A key challenge to the widespread deployment of robotic manipulators is the need to ensure safety in arbitrary environments while generating new motion plans in real-time. This talk describes a technique that constructs a parameterized representation of the forward reachable set that it then uses in concert with predictions to enable certified, collision checking. To improve computational speed, this talk describes how to represent this parameterized reachable set using a neural implicit representation without sacrificing any safety guarantees. This approach, which is guaranteed to generate safe behavior, is demonstrated across a variety of different real-world platforms including ground vehicles, manipulators, and walking robots.
Presenter
Ram Vasudevan
Ram Vasudevan is an associate professor in the Mechanical Engineering and Robotics Departments at the University of Michigan. He received a BS in Electrical Engineering and Computer Sciences, an MS degree in Electrical Engineering, and a PhD in Electrical Engineering all from the University of California, Berkeley. He is a recipient of the NSF CAREER Award, the ONR Young Investigator Award, and the 1938E Award from the University of Michigan. His work has received best paper awards at the IEEE Conference on Robotics and Automation, the ASME Dynamics Systems and Controls Conference, and IEEE International Conference on Biomedical Robotics and Biomechatronics, and has been finalist for best paper at Robotics: Science and Systems.