Date: 02/19/2019 | 2:00-3:00PM | Location: Robinson 109
IEEE RAS is pleased to host UMass Amherst’s Prof. Joydeep Biswas from the Autonomous Mobile Robotics Laboratory (AMRL)
Professor Biswas’ research on autonomous service mobile robots and robot soccer has been covered by several media and news articles. As a PhD student he was the recipient of the 2015 Siebel Scholarship. He has served on the Program Committee for the RoboCup Symposium, and continues to serve on the Executive Committee of the RoboCup Small Size League.
Title:
Building Robots For Long-Term Autonomy, And Keeping Them Autonomous
Abstract:
We seek the ultimate goal of having self-sufficient autonomous service mobile robots working in human environments, performing tasks accurately and robustly. Successfully deploying such robots requires simultaneously addressing challenges in a number of sub-problems spanning the complete perception-cognition-actuation stack. In this talk, I shall present our recent research along two broad themes: algorithms for perception, navigation, and control to enable computationally efficient autonomy; and algorithms to ensure that they remain autonomous over extended periods of time, despite changes in the environment. In particular, I shall present several algorithms for time-optimal control, joint perception and planning, localization in changing environments, and non-expert guided failure recovery. These algorithms have enabled robust autonomy for our robots in real human environments, with limited computational resources, and while overcoming inevitable unexpected failures in the real world.