{"166511":{"#nid":"166511","#data":{"type":"event","title":"Ph.D. Thesis Proposal: Duy Nguyen Ta Huynh","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003EPh.D. Thesis Proposal Announcement\u003C\/strong\u003E\u003Cbr \/\u003ETitle: \u003Cstrong\u003EThe Role Of Allocentric Representations In High-Speed Local Navigation\u003C\/strong\u003E\u003Cbr \/\u003E\u003Cbr \/\u003E\u003Cstrong\u003EDuy Nguyen Ta Huynh\u003C\/strong\u003E\u003Cbr \/\u003ESchool of Interactive Computing\u003Cbr \/\u003ECollege of Computing\u003Cbr \/\u003EGeorgia Institute of Technology\u003Cbr \/\u003E\u003Cbr \/\u003EDate: Friday November 9th, 2012\u003Cbr \/\u003ETime: 2:00PM - 5:00PM (EST)\u003Cbr \/\u003ELocation: MiRC 102A\u003Cbr \/\u003E\u003Cbr \/\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\u003Cul\u003E\u003Cli\u003EProf. Frank Dellaert (Advisor, School of Interactive Computing, College of Computing, Georgia Tech)\u003C\/li\u003E\u003Cli\u003EProf. Ronald Arkin (School of Interactive Computing, College of Computing, Georgia Tech)\u003C\/li\u003E\u003Cli\u003EProf. Panagiotis Tsiotras (School of Aerospace Engineering, College of Engineering, Georgia Tech)\u003C\/li\u003E\u003Cli\u003EProf. Tucker Balch (School of Interactive Computing, College of Computing, Georgia Tech)\u003C\/li\u003E\u003Cli\u003EProf. Gabe Sibley (Department of Computer Science, George Washington University)\u003C\/li\u003E\u003C\/ul\u003E\u003Cp\u003E\u003Cbr \/\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u003Cbr \/\u003EIn 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.\u003C\/p\u003E","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"The Role Of Allocentric Representations In High-Speed Local Navigation"}],"uid":"1","created_gmt":"2012-10-30 09:31:41","changed_gmt":"2016-10-08 02:00:59","author":"Jupiter","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2012-11-09T13:00:00-05:00","event_time_end":"2012-11-09T16:00:00-05:00","event_time_end_last":"2012-11-09T16:00:00-05:00","gmt_time_start":"2012-11-09 18:00:00","gmt_time_end":"2012-11-09 21:00:00","gmt_time_end_last":"2012-11-09 21:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"47223","name":"College of Computing"},{"id":"50876","name":"School of Interactive Computing"}],"categories":[],"keywords":[],"core_research_areas":[],"news_room_topics":[],"event_categories":[],"invited_audience":[],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[{"value":"\u003Cp\u003E\u003Ca href=\u0022mailto:duynguyen@gatech.edu\u0022\u003EDuy Nguyen Ta Huynh\u003C\/a\u003E\u003C\/p\u003E","format":"limited_html"}],"email":[],"slides":[],"orientation":[],"userdata":""}}}