Ph.D. Thesis Proposal: Duy Nguyen Ta Huynh

Event Details
  • Date/Time:
    • Friday November 9, 2012
      1:00 pm - 4:00 pm
  • Location: MIRC 102A
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Duy Nguyen Ta Huynh

Summaries

Summary Sentence: The Role Of Allocentric Representations In High-Speed Local Navigation

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Ph.D. Thesis Proposal Announcement
Title: The Role Of Allocentric Representations In High-Speed Local Navigation

Duy Nguyen Ta Huynh
School of Interactive Computing
College of Computing
Georgia Institute of Technology

Date: Friday November 9th, 2012
Time: 2:00PM - 5:00PM (EST)
Location: MiRC 102A

Committee:

  • Prof. Frank Dellaert (Advisor, School of Interactive Computing, College of Computing, Georgia Tech)
  • Prof. Ronald Arkin (School of Interactive Computing, College of Computing, Georgia Tech)
  • Prof. Panagiotis Tsiotras (School of Aerospace Engineering, College of Engineering, Georgia Tech)
  • Prof. Tucker Balch (School of Interactive Computing, College of Computing, Georgia Tech)
  • Prof. Gabe Sibley (Department of Computer Science, George Washington University)


Abstract:
In this proposal, I address the problem of autonomous high-speed navigation for rally racing and military applications. State-of-the-art methods in autonomous navigation are inefficient in their local planning and perception methods, limiting their capabilities to drive fast. Inspired by research in cognitive science and experimental psychology, I study the main computational benefit of allocentric representations and exploit their advantages to propose an efficient local navigation system. I propose an allocentric planning framework that exploits motion prediction in multiple allocentric frames to reduce unnecessary and expensive re-planning computations. I show that the proposed planning framework could be supported directly and efficiently by a robust and fast dual-vision system, mimicking the selectivity mechanism of bio-vision for efficient resource allocations. As a result, the system can fluidly coordinate local perception and planning together. I propose to implement and evaluate the entire system on a high-end car simulator, X-Motor Racing, as well as on a real RC car platform.

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College of Computing, School of Interactive Computing

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Status
  • Created By: Jupiter
  • Workflow Status: Published
  • Created On: Oct 30, 2012 - 5:31am
  • Last Updated: Oct 7, 2016 - 10:00pm