20200826
 

Time: 10:00am 

Venue: Online

Speaker: Professor Lantao Liu, Indiana University

 

Zoom meeting link:
https://hku.zoom.us/j/99484141050
Meeting ID: 994 8414 1050

Title: Informative Planning of Autonomous Robots for Spatiotemporal Environmental Monitoring
 
Speaker: Professor Lantao Liu, Indiana University
 
Abstract:
Date: August 26, 2020 (Wednesday)
Time: 10:00 am (HK Time) (GMT+8)
Adaptive sampling and planning in robotic environmental monitoring are challenging when the target environmental process varies over space and time.  I will first discuss a Monte Carlo tree search method which enables the robot to not only well balance the environment exploration and exploitation in space, but also catch up to the environmental dynamics that are related to time. This is achieved by incorporating multi-objective optimization and a look-ahead model-predictive rewarding mechanism. The method produces optimized decision solutions for the robot based on its knowledge (estimation) of the environment model, leading to better adaptation to environmental dynamics. Then I will discuss robot decision-making in uncertain and unstructured environments, such as in the scenario when strong winds and water flows cause robot stochastic behaviors. We explore the time-varying stochasticity of robot motion and investigate robot states' reachability, based on which we develop an efficient iterative method that offers a good trade-off between solution optimality and time complexity.
 
About the speaker:
 
Lantao Liu is an Assistant Professor in the Luddy School of Informatics, Computing, and Engineering at Indiana University-Bloomington. He has been working on planning, learning, and coordination techniques for autonomous systems involving single or multiple robots with potential applications in environmental monitoring, surveillance and security, search and rescue, as well as smart transportation. Before joining Indiana University, he was a Research Associate in the Department of Computer Science at the University of Southern California during 2015 - 2017. He also worked as a Postdoctoral Fellow in the Robotics Institute at Carnegie Mellon University during 2013 - 2015. He received a Ph.D. from the Department of Computer Science and Engineering at Texas A&M University in 2013, and a Bachelor degree from the Department of Automatic Control at Beijing Institute of Technology in 2007. 
 
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