Christopher Denniston on Active Robot Perception for Understanding the World | Toronto AIR Seminar скачать в хорошем качестве

Christopher Denniston on Active Robot Perception for Understanding the World | Toronto AIR Seminar

Abstract: Active perception is the process of a robot dynamically moving a sensor to understand the environment. Active perception, and especially informative path planning, has had great successes in automatic search and rescue, as well as scientific information gathering in the marine domain. In this talk, we will address three key issues which are hindering usage of these systems in real deployments. These issues are difficult deployment by non-roboticist end users, difficultly modeling uncertainty in complex obstacle-rich environments, and the need for directly planning for interactions with the environment. Paper: Fernández, Isabel M. Rayas, et al. "Informative Path Planning to Estimate Quantiles for Environmental Analysis." IEEE Robotics and Automation Letters 7.4 (2022): 10280-10287. https://arxiv.org/abs/2201.10633 Salhotra, Gautam, et al. "Adaptive Sampling using POMDPs with Domain-Specific Considerations." 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2021. https://arxiv.org/abs/2109.11595 Bio: Christopher E. Denniston is a final year Ph.D. student in the Robotic Embedded Systems Lab at the University of Southern California. His research focuses on robotic search and rescue, and understanding harmful algae blooms. He has collaborated with NASA/JPL on multiple projects, including the NeBula team in the DARPA Subterranean Challenge. Prior to joining as a Ph.D. student, he obtained a Master's degree from the University of Southern California. Toronto AIR Seminar: The Toronto AI Robotics Seminar Series is a set of events featuring young robotics and AI experts. The talks are given by local as well as global speakers and organized by the Faculty and Students at University of Toronto’s Department of Computer Science. We welcome students, researchers and robotics enthusiasts from around the world to join us and interact with the Toronto Robotics Community. Find out more at: https://robotics.cs.toronto.edu/toron...