Hierarchical Belief Spaces for Autonomous Mobile Manipulation

05 Jul
Wednesday, 07/05/2017 10:00am to 12:00pm
Lederle Graduate Research Center, Room A311
Ph.D. Dissertation Proposal Defense

"Hierarchical Belief Spaces for Autonomous Mobile Manipulation "

Autonomy in robot systems is a valuable attribute that remains an elusive goal. Noisy sensors, stochastic actions, and variation in unstructured environments all lead to unavoidable errors that can be inconsequential or catastrophic depending on the circumstances. Developing techniques capable of mitigating uncertainty at runtime has, therefore, been a significant and challenging focus of the robotics community.

This dissertation will propose a new hierarchical belief space planning framework to manage uncertainty and solve tasks using a uniform framework. Such a framework provides a means of creating autonomous systems that focus on salient subsets of state information, mitigate risk, and require less frequent intervention. Preliminary results indicate that it is possible to implement near optimal solutions to interesting problems in a uniform, hierarchical framework of belief space planners by taking actions that condense belief towards goal distributions.

Advisor: Rod Grupen