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Project Information

EAGER: PROVABLY EFFICIENT MOTION PLANNING AFTER FINITE COMPUTATION TIME

Agency:
NSF

National Science Foundation

Project Number:
1451737
Contact PI / Project Leader:
BEKRIS, KOSTAS
Awardee Organization:
RUTGERS THE ST UNIV OF NJ NEW BRUNSWICK

Description

Abstract Text:
Motion planning is a fundamental capability needed for robots to operate autonomously. This project advances the understanding of state-of-the-art methods for robot motion planning and uses results from analysis to develop increasingly more capable and practical solutions, which are relevant to important applications such as driverless cars and automated manufacturing.

Modern sampling-based algorithms for robot motion planning asymptotically converge to optimal trajectories. In practice, however, their execution is stopped after a finite amount of computation. This project reasons about the properties of these popular methods after finite computation time instead of an asymptotic analysis. Based on this progress, methods are developed with improved practical computational efficiency and formal probabilistic near-optimality guarantees. These techniques address a wide set of planning challenges, including problems that involve significant dynamics. This is an especially important direction, for which it is harder to apply existing solutions with near-optimality guarantees. If successful, this work will result in a paradigm shift in algorithmic motion planning and its application domains, since it provides more efficient methods with stronger formal guarantees. This project includes outreach and educational activities to disseminate research results and integrate them into curriculum.
Project Terms:
Address; Algorithms; Arts; base; Educational Activities; Educational Curriculum; improved; Methods; Motion; outreach; Property; Research; Robot; Sampling; Solutions; Techniques; Time; Work

Details

Contact PI / Project Leader Information:
Name:  BEKRIS, KOSTAS
Other PI Information:
Not Applicable
Awardee Organization:
Name:  RUTGERS THE ST UNIV OF NJ NEW BRUNSWICK
City:  NEW BRUNSWICK    
Country:  UNITED STATES
Congressional District:
State Code:  NJ
District:  06
Other Information:
Fiscal Year: 2014
Award Notice Date: 22-Aug-2014
DUNS Number: 001912864
Project Start Date: 01-Sep-2014
Budget Start Date:
CFDA Code: 47.070
Project End Date: 31-Aug-2016
Budget End Date:
Agency: ?

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National Science Foundation
Project Funding Information for 2014:
Year Agency

Agency: The entity responsible for the administering of a research grant, project, or contract. This may represent a federal department, agency, or sub-agency (institute or center). Details on agencies in Federal RePORTER can be found in the FAQ page.

FY Total Cost
2014 NSF

National Science Foundation

$175,000

Results

i

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