Diffusion Processes in Motion Planning and Control

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The proposed work addresses a variety of issues related to motion planning of complex systems: development and application of statistical methods to reduce the effect of the "course of dimensionality" in configuration-based motion planning; constructing stochastic models of mechanical systems to account for noise in low-level sensing and actuation and its effect on high-level planning; coordination of multi-robot swarms and their biological analogues. The obtained results will be tested on holonomic as well as non-holonomic systems, and also applied to studying other complex systems, such as protein molecules.