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Visual-RRT*: Generating Asymptotically Optimal Trajectories with Vision-based Controllers by Rafael MURRIETA-CID
Visual-RRT*: Generating Asymptotically Optimal Trajectories with Vision-based Controllers
by Rafael MURRIETA-CID
Research director / Investigador Titular D (CIMAT - Centro de Investigación en Matemáticas)
Email:
Site:
https://www.cimat.mx/~murrieta
Date:
Monday, 16th of june, 2025 - 16:00
Place :
LAAS-CNRS - Salle de Conférences 7 avenue du Colonel Roche 31077 TOULOUSE Cedex 4
Résumé :
In this talk, we will present a planning method for robotic systems that, by construction, guarantees the planned trajectories to be executable in closed-loop with a visual servoing controller, in addition to assuring their asymptotically optimality in the state space. The design of this method requires one to obtain a locally optimal steering method, locally stable closed-loop controllers used to track the optimal trajectories, and a mapping between the motion of the robot in the state space and the corresponding motion of the visual features in the image space. As a result, the proposed approach allows the system to navigate in a closed-loop manner among non-convex obstacles, following asymptotically optimal trajectories. The method is validated using two systems: a nonholonomic robot and a robotic arm. Real-world experiments are carried out for the first system.
Biographie :
In November 1998 he received the PhD. from the INP of Toulouse. His PhD. research was done in the group of "Robotique et Intelligence Artificielle" (RIA) of the "Laboratoire d'Analyse et d'Architecture des Systemes du Centre National de la Recherche Scientifique Francaise" (LAAS/CNRS) in Toulouse, under the supervision of Maurice Briot and Michel Devy. His PhD. research was about artificial vision for outdoor autonomous robots. From September 2002 to July 2004 he was a postdoctoral researcher in the Beckman Institute and the Department of Electrical and Computer Engineering (ECE) of the University of Illinois at Urbana-Champaign (UIUC). He worked with Seth Hutchinson. He is currently in sabbatical leave at Inria Centre at Université Côte d'Azur with team Acentauri in France. Since March 2006 he works at the Centro de Investigación en Matemáticas --CIMAT-- in Guanajuato México, where he holds the position of "Investigador Titular D". Appointment obtained, April 2024. He has served as head of the postgraduate program in Applied Mathematics from May 2022 to January 2024. He is a member of the Mexican National System of Researchers (SNI), rank 3, he is also a member of the Mexican Academy of Sciences and he is an Editor of the IEEE Transactions on Robotics.
Mots-clés : Motion Planning; Visual servoing
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By Visual-RRT*: Generating Asymptotically Optimal Trajectories with Vision-based Controllers
by Rafael MURRIETA-CID
Research director / Investigador Titular D (CIMAT - Centro de Investigación en Matemáticas)
Email:
Site:
https://www.cimat.mx/~murrieta
Date:
Monday, 16th of june, 2025 - 16:00
Place :
LAAS-CNRS - Salle de Conférences 7 avenue du Colonel Roche 31077 TOULOUSE Cedex 4
Résumé :
In this talk, we will present a planning method for robotic systems that, by construction, guarantees the planned trajectories to be executable in closed-loop with a visual servoing controller, in addition to assuring their asymptotically optimality in the state space. The design of this method requires one to obtain a locally optimal steering method, locally stable closed-loop controllers used to track the optimal trajectories, and a mapping between the motion of the robot in the state space and the corresponding motion of the visual features in the image space. As a result, the proposed approach allows the system to navigate in a closed-loop manner among non-convex obstacles, following asymptotically optimal trajectories. The method is validated using two systems: a nonholonomic robot and a robotic arm. Real-world experiments are carried out for the first system.
Biographie :
In November 1998 he received the PhD. from the INP of Toulouse. His PhD. research was done in the group of "Robotique et Intelligence Artificielle" (RIA) of the "Laboratoire d'Analyse et d'Architecture des Systemes du Centre National de la Recherche Scientifique Francaise" (LAAS/CNRS) in Toulouse, under the supervision of Maurice Briot and Michel Devy. His PhD. research was about artificial vision for outdoor autonomous robots. From September 2002 to July 2004 he was a postdoctoral researcher in the Beckman Institute and the Department of Electrical and Computer Engineering (ECE) of the University of Illinois at Urbana-Champaign (UIUC). He worked with Seth Hutchinson. He is currently in sabbatical leave at Inria Centre at Université Côte d'Azur with team Acentauri in France. Since March 2006 he works at the Centro de Investigación en Matemáticas --CIMAT-- in Guanajuato México, where he holds the position of "Investigador Titular D". Appointment obtained, April 2024. He has served as head of the postgraduate program in Applied Mathematics from May 2022 to January 2024. He is a member of the Mexican National System of Researchers (SNI), rank 3, he is also a member of the Mexican Academy of Sciences and he is an Editor of the IEEE Transactions on Robotics.
Mots-clés : Motion Planning; Visual servoing