RI Seminar
Carnegie Mellon University
Tartan Racing and the Urban Challenge
Abstract The DARPA Urban Grand Challenge was a 60 mile race through an urban roadway where vehicles had to follow the same rules of the road that human drivers are expected to respect. This challenge differed from the 2 previous Grand Challenges in that the robots not only had to navigate the course, but they [...]
Carnegie Mellon University
Motion Planning for the Urban Grand Challenge
Abstract We present the motion planning framework for Boss, Carnegie Mellon's winning entry in the Urban Grand Challenge. Urban environments present a number of motion planning challenges, including high-speed operation, complex inter-vehicle interaction, parking in large unstructured lots, and highly constrained maneuvers. Our approach combines a local planner that utilizes a model-based trajectory generation algorithm [...]
Sensor Networks for Specialty Agriculture
Event Location: NSH 1109Abstract: The control of dynamical systems becomes increasingly important as the era of robotics research dominated by quasi-static machines rapidly comes to a close. Similarly, the importance of state estimation grows as robotic applications require robots to function in larger, more complex environments. My research addresses both of these issues by focusing [...]