M. Ani Hsieh, Ph.D. Ani presented a talk titled Modeling, Tracking, and Learning Coherent Spatiotemporal Features in Geophysical Flows at the 32nd Annual Conference on Neural Information Processing Systems (NIPS) for the Spatiotemporal Workshop. Check out some pictures from the workshop below.
Coordination of multiple AGVs: a quadratic optimization method Valerio Digani, M. Ani Hsieh, Lorenzo Sabattini, and Cristian Secchi Abstract: This paper presents an optimization strategy to coordinate a fleet of Automated Guided Vehicles (AGVs) traveling on ad-hoc pre-defined roadmaps. Specifically, the objective is to maximize traffic throughput of AGVs navigating in an automated warehouse by minimizing the time AGVs spend … Read more
Going With The Flow: A Graph Based Approach to Optimal Path Planning in General Flows Dhanushka Kularatne, Subhrajit Bhattacharya, and M. Ani Hsieh Abstract: Autonomous surface and underwater vehicles (ASVs and AUVs) used for ocean monitoring are typically deployed for long periods of time and must operate with limited energy budgets. Coupled with the increased … Read more
Differential Geometric Approach to Trajectory Planning: Cooperative Transport by a Team of Autonomous Marine Vehicles Hadi Hajieghrary, Dhanushka Kularatne, and M. Ani Hsieh Abstract: In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrained system and … Read more
Check out Hadi’s ACC 2018 paper entitled “Differential Geometric Approach to Trajectory Planning: Cooperative Transport by a Team of Autonomous Marine Vehicles“. The presentation will be on Wednesday, Jun 27 at 13:50-14:10.
Optimal Path Planning in Time-Varying Flows with Forecasting Uncertainties Dhanushka Kularatne, Hadi Hajieghrary, and M. Ani Hsieh Abstract: Uncertainties in flow models have to be explicitly considered for effective path planning in marine environments. In this paper, we present two methods to compute minimum expected cost policies and paths over an uncertain flow model. The … Read more
Check out Dhanushka’s ICRA 2018 paper entitled “Optimal Path Planning in Time-Varying Flows with Forecasting Uncertainties“. The presentation will be on Wednesday, May 23 from 14:30-17:00.
Ani is co-organizing the ICRA 2018 Workshop on Robot Teammates Operating in Dynamic, Unstructured Environments with Nick Roy (MIT), Henrik Christensen (UCSD), Fox Dieter (U of Washington), Stuart Young (ARL), Dirk Schulz (FKIE), Ethan Stump (ARL), and Chris Reardon (ARL). The workshop will be held on Monday, May 21st. The workshop program can be found … Read more
Variations in material concentration resulting from a biochemical or radiological contaminant leakage, such as an oil spill in the ocean or a radioactive dispersal in the atmosphere, is dominated by turbulent mixing. The result is a highly anisotropic and unsteady sensory landscape where sensor measurements become the sporadic and intermittent which renders gradient based search … Read more
Optimal Paths in Flows Autonomous marine vehicles (AMVs) are typically deployed for long periods of time in the ocean to monitor different physical, chemical, and biological processes. Given their limited energy budgets, it makes sense to consider motion plans that leverage the dynamics of the surrounding flow field so as to minimize energy usage for … Read more