Event Information |
Robotics Student Seminar: Sunandita Patra, "Planning & Acting w/Hierarchical Input/Output Automata" Robotics Student Seminar
"Planning and Acting with Hierarchial Input/Output Automata"
Sunandita Patra
Ph.D. candidate
Computer Science
Advisor: Dr. Dana Nau
Abstract
We propose an original framework for planning and acting in systems composed of multiple components. Typical applications are, for example, in harbor or warehouse automation which requires coordination among several agents. We model systems as the parallel composition of its components. The components are modeled using hierarchical input/output automata. The framework extends the usual parallel composition operation of I/O automata with a hierarchical composition operation that can refine a task. It defines planning as the synthesis of a control component to drive, through I/O interactions and task refinement, the system toward desired states. A new nondeterministic algorithm performs this synthesis. The two operations of parallel and hierarchical composition are distributive, which is essential for the correctness and completeness of the proposed planning algorithm.
About the Robotics Student Seminars
The Robotics Student Seminars at the University of Maryland College Park are a student-run series of talks given by current graduate and undergraduate students.
The purpose of these talks is to:
This Event is For: Graduate • Undergraduate • Faculty • Staff • Post-Docs |