|SUBJECT:||M.S. Thesis Presentation|
|TIME:||Tuesday, November 23, 2021, 11:00 a.m.|
|PLACE:||MRDC Building, 2407|
|TITLE:||Safety-guaranteed Task Planning for Bipedal Navigation in Partially Observable Environments|
|COMMITTEE:||Prof. Ye Zhao, Chair (ME)
Prof. Samuel Coogan (ECE)
Prof. Jonathan Rogers (ME/AE)
Bipedal robots are becoming more capable as basic hardware and control challenges are being overcome, however reasoning about safety at the task and motion planning levels has been largely underexplored. I would like to make key steps towards guaranteeing safe locomotion in cluttered environments in the presence of humans or other dynamic obstacles by designing a hierarchical task planning framework that incorporates safety guarantees at each level. This layered planning framework is composed of a coarse high-level symbolic navigation planner and a lower-level local action planner. A belief abstraction at the global navigation planning level enables belief estimation of non-visible dynamic obstacle states and guarantees navigation safety with collision avoidance. Both planning layers employ linear temporal logic for a reactive game synthesis between the robot and its environment while incorporating lower level safe locomotion keyframe policies into formal task specification design.