| Subhrajit Bhattacharya Lehigh University https://www.lehigh.edu/~sub216/ |
Florian T. Pokorny KTH Royal Institute of Technology http://www.csc.kth.se/~fpokorny/ |
Vijay Kumar University of Pennsylvania https://www.kumarrobotics.org/ |
Date: Friday, 24 May 2019.
Time: 8:30-12:30.
Location/Room: 518c (at the
Palais des congrès de Montréal
)
Over the past several years algebraic and differential topology have been used extensively in a variety of problems in robotics. Topological invariants have been used to reason about shapes of configuration spaces. Invariants have also been used to develop algorithms for computing optimal solutions in topologically distinct classes in configuration spaces, with direct application to multi-robot exploration problems and in systems involving flexible cables. Representation as simplicial complexes has transcended the traditional graph representations in context of sensor networks, making way for new methods in reasoning about the shape of configuration spaces and in developing effective coverage algorithms. With advances in persistent homology algorithms, topological data analysis techniques have been used on large data sets (such as 3D point clouds in context of visual mapping) and sensor networks for identification and classification of spaces based on their topology.
This workshop is aimed at bringing together a diverse group of people who are working at the frontier of application of topological techniques to solving problems related to robotics, perception and automation. The goal of the workshop is not only dissemination of new ideas related to topological methods, but also to encourage intellectual exchange through discussions and collaborations across the discipline.
| Duration | Speaker and Affiliation | Title of Talk |
|---|---|---|
| 10 mins | Welcome and Overview of the Workshop | |
| 20 mins | Dr. Florian T. Pokorny KTH Royal Institute of Technology, Sweden. |
Data-Driven Topological Methods for Reasoning about Motion [PDF slides] |
| 20 mins | Dr. Subhrajit Bhattacharya Lehigh University, U.S.A. |
Recent Advances in Topological Path Planning [PDF slides] |
| 20 mins | Dr. Maxim Likachev, Carnegie Mellon University, U.S.A. |
Computation and Use of Topology-based Heuristic Functions for Motion Planning [PDF slides] |
| 20 mins | Dr. Howie Choset Carnegie Mellon University, U.S.A. |
Use of Topology in Optimal Motion Planning (presented by Ramkumar Natarajan) [PPTX slides] |
| 20 mins | Poster Spotlight Session
|
|
| 30 mins | Poster Session and Coffee Break
|
|
| 20 mins | Dr. Ross A. Knepper, Cornell University, U.S.A. |
Braids and Other Representations for Multi-Agent Social Navigation [PDF slides] |
| 20 mins | Dr. Adrià Colomé Figueras Institut de Robotica i Informatica Industrial, Spain |
Combining topology and machine learning in cloth perception and manipulation by robots |
| 20 mins | Dr. Alberto Speranzon Honeywell, U.S.A. |
Uncooperative Topological Mapping |
| 20 mins | Dr. Daniel C. Cohen Lousiana State University, U.S.A. |
Topological complexity of surfaces and related configuration spaces [PDF slides] |
| 20 mins | Discussion and Concluding Remarks | |