Qualifying Exam

Qualifying Exam Algorithmic Foundations for Efficient and Optimal Motion and Task-Motion Planning
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Speaker: Duo Zhang

Bio

Location : Room 403, 4th floor, 1 Spring Street, Downtown New Brunswick

Committee: 

Associate Professor Jingjin Yu 

Professor Abdeslam Boularias

Professor Kostas Bekris

Professor Lirong Xia

Event Type: Qualifying Exam

Abstract: We present two approaches that address distinct but complementary challenges in motion planning. First, we introduce the Rotation-Stacked Visibility Graph (RVG), which generalizes reduced visibility graph methods to include discretized robot orientations. By stacking layered roadmaps, RVG achieves resolution-completeness and asymptotic optimality for SE(2) planning, significantly outperforming sampling-based alternatives in both computational efficiency and path quality. Second, we present the Synchronous Dual-Arm Rearrangement (SDAR) planner, which tackles the complexity of tightly coupled multi-robot coordination. By integrating dependency-driven task logic with a synchronous motion planner, SDAR effectively navigates the interleaved constraints of tabletop rearrangement. Collectively, these methods demonstrate a robust path toward achieving real-time, optimal performance in complex, constrained environments.

Organization: 

Contact  Associate Professor Jingjin Yu

Zoom Link: https://rutgers.zoom.us/j/3727931932?pwd=UkpYcFVqdkZmdDNHY3FISFUxUHE4Zz09&omn=95889273900&jst=2