EVENT DETAILS AND ABSTRACT

Title: Optimal coordination in robotics
Speaker: Robert Ghrist
Speaker Info: University of Illinois
Brief Description:
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Abstract:

Optimizing the motion of a single robot is a well-studied problem. More challenging is the optimization of multiple robots sharing a common environment. In such a setting, each robot has its own notion of what optimal means: we consider vector-valued (or Pareto) optimization for coordination.In Pareto optimization, it is very common to have an infinite number of distinct optimal classes. In contrast, we demonstrate that a very large class of robotic coordination problems admits a finite bound on the number of optima. Most surprisingly, this phenomenon is intimately related to geometric properties of a certain coordination space.