Hi All,
Our first grand seminar will be given by Jur from
the GAMMA group at UNC Chapel hill. Jur's research
is mainly on robotic motion planning and computational
geometry. He will be talking about a new planning method for
thousands of agents. It will be a very interesting talk.
Please come and join us next week.
Jyh-Ming
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*
* GRAND Seminar
* http://cs.gmu.edu/~jmlien/seminar/
*
* Tuesday, January 27, 2008. 2:00 pm
* Room 430A ST2
*
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*Speaker*
Jur van den Berg
Postdoctoral Researcher
University of North Carolina
*Title*
Reciprocal Velocity Obstacles for Real-Time Multi-Agent Navigation
*Abstract*
We propose a new concept ---the "Reciprocal Velocity Obstacle"--- for
real-time multi-agent navigation. We consider the case in which each
agent navigates independently without explicit communication with other
agents. Our formulation is an extension of the Velocity Obstacle
concept, which was introduced for navigation among (passively) moving
obstacles. Our approach takes into account the reactive behavior of the
other agents by implicitly assuming that the other agents make a similar
collision-avoidance reasoning. We show that this method guarantees safe
and oscillation-free motions for each of the agents. We apply our
concept to navigation of thousands of agents in densely populated
environments containing both static and moving obstacles, and we show
that real-time and scalable performance is achieved in such challenging
scenarios.
*Bio*
MSc: University of Groningen, The Netherlands
PhD: University of Utrecht, The Netherlands. Advisor: prof. Mark Overmars
currently: Postdoctoral Researcher at University of North Carolina with
profs. Dinesh Manocha and Ming Lin
next year: Postdoctoral Researcher at UC Berkeley with prof. Ken Goldberg
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Jyh-Ming Lien
Assistant Professor
Department of Computer Science [log in to unmask]
George Mason University, MSN 4A5 http://cs.gmu.edu/~jmlien
Fairfax, VA, 22030, USA tel: +1-703-993-9546
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