Real-Time Adaptive Motion Planning

该SGER项目解决了在未知或不确定的动态环境中工作的高自由度机器人（如机械手，移动机械手或类人机器人等）的运动规划这一悬而未决的问题。针对这一问题，提出了一种新的实时自适应运动规划方法。该项目侧重于研究关键问题，以使该方法在不完全感知的现实世界中超越模拟可行。真实世界的实验将进行验证。所提出的研究将显著推进机器人运动规划的最新技术，使更多的自适应和自主机器人成为可能，并有望扩大机器人技术的应用潜力。该项目将为学生研究人员提供机器人技术方面的全面培训。研究结果可以用来吸引各个层次的学生，特别是代表性不足的群体，学习科学和技术。该项目还将有助于加强PI实验室与高中生相关的外展活动。

This SGER project addresses the largely open problem of motion planning of a high-degree-of-freedom robot (such as a manipulator, a mobile manipulator, or a humanoid robot, etc.) working in a mostly unknown or uncertain and dynamic environment with unknown obstacle motions. A novel real-time adaptive motion planning approach is proposed to tackle the problem. The project focuses on investigating key issues to make the approach feasible beyond simulation in the real world with imperfect sensing. Real-world experiments will be conducted for validation. The proposed research will significantly advance the state of the art in robot motion planning to enable more adaptive and autonomous robots and promise to broaden the application potential of robotics. This project will provide comprehensive training to student researchers in robotics. The research results could be used to attract students of all levels, especially under-represented groups, to science and technology. This project will also help enhancing outreach activities of the PI's lab related to high school students.