Autonomy of Service Robots in Cluttered and Dynamic Environments

点击翻译按钮获取中文摘要

Leading-edge robotics research focuses on autonomy of service robots and unmanned vehicles in dynamic environments where other objects can move and clutter the task space. Today's robots are expected to do more than repetitive tasks in a static and structured workspace. They must carry out complex operations ranging from fighting battles to plugging leaky offshore oil pipes to removing brain tumors to warning drivers to vacuuming busy corridors. To eliminate human error and fully automate a robot for such real-world applications, one has to deal with dynamic environments characterized by changing boundaries as well as movable, deformable and articulated surrounding objects. The common need of these seemingly different applications is the ability of robots to perceive their environments and locate themselves i.e., sensing, plan an appropriate action i.e., motion planning, and finally execute the plan i.e., control. The particular challenge in the context of dynamic environments is that these steps are coupled and have to be executed concurrently since, for example, a slight change in the environment due to a moving obstacle will make an a priori plan obsolete. The motivation of capturing dynamic environments is related to not only the desire for an increased level of autonomy but also safety and precision required for emerging robotics applications and the use of unmanned ground, aerial and underwater vehicles where human intervention is costly, limited or impossible. This research focuses on robust and computationally efficient solutions for sensing, planning and control in dynamic environments to develop the nuts and bolts of the next generation of autonomous robots to cope the challenges of real-world applications. The applicant has a proven record, capable and motivated team and state-of-the-art laboratory to succeed in the proposed research. Interests in this field are increasingly growing among researchers mainly because the ability of a robot or a coordinated group of robots to work in a dynamic environment will open numerous new research frontiers and applications ranging from military systems to transportation safety to environmental studies, and create a great impact on our quality of life, health and economy.