{"678636":{"#nid":"678636","#data":{"type":"event","title":"PhD Proposal by Jinwoo Park","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u0026nbsp;\u003C\/strong\u003EOptimizing Multi-Objective Task Allocation under Spatio-Temporal Constraints for Heterogeneous Multi-Robot Systems\u200b\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EDate\u003C\/strong\u003E: Friday, December 6th\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ETime\u003C\/strong\u003E: 11:30 am - 1\u0026nbsp;pm EST\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ELocation\u003C\/strong\u003E: (In person) Klaus 2108,\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u2002\u2002\u2002\u2002\u2002\u2002\u0026nbsp; \u0026nbsp; \u0026nbsp; \u0026nbsp;(Virtual) \u003Ca href=\u0022https:\/\/gatech.zoom.us\/my\/jinwoop?pwd=OFJhVTcwNGI3ZW1YdERzWHgrUzZIZz09\u0022\u003Ehttps:\/\/gatech.zoom.us\/my\/jinwoop?pwd=OFJhVTcwNGI3ZW1YdERzWHgrUzZIZz09\u003C\/a\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EEffective coordination of multi-robot teams is essential for achieving goals through improved efficiency\u003C\/p\u003E\u003Cp\u003Eand robustness, demanding careful reasoning in task allocation, scheduling, and motion planning. However,\u003C\/p\u003E\u003Cp\u003Eaddressing these interdependent problems simultaneously increases complexity, making it challenging to find\u003C\/p\u003E\u003Cp\u003Ean optimal solution. The proposed thesis examines a time-extended heterogeneous multi-robot task allocation\u003C\/p\u003E\u003Cp\u003Eframework designed to achieve multiple objectives under numerous constraints in probabilistic and dynamic\u003C\/p\u003E\u003Cp\u003Esettings. To that end, we introduce a framework that employs statistical tests to account for trait uncertainties\u003C\/p\u003E\u003Cp\u003Ein both robots and tasks, offering a theoretical guarantee for the resulting solution while also accommodating\u003C\/p\u003E\u003Cp\u003Etighter temporal constraints. Furthermore, we propose an approach to handle dynamic traits which evolve\u003C\/p\u003E\u003Cp\u003Eover time. By incorporating the notion of depletion and trait provision rates, the time required to complete\u003C\/p\u003E\u003Cp\u003Etasks varies based on coalition composition, thus enabling a more accurate estimation of makespan. The\u003C\/p\u003E\u003Cp\u003Eproposed research seeks to integrate task prioritization and leverage control barrier functions to ensure the\u003C\/p\u003E\u003Cp\u003Ecollision-free execution of tasks by robot coalitions. We also aim to explore the impact of human preference on\u003C\/p\u003E\u003Cp\u003Ehuman-robot collaboration, which has applications in smart factories and warehouse environments. Lastly, we\u003C\/p\u003E\u003Cp\u003Epropose a reactive framework for a dynamic environment, balancing feasibility and time efficiency.\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EDr. Seth Hutchinson (Advisor)\u003C\/p\u003E\u003Cp\u003ESchool of Interactive Computing\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EDr. Sonia Chernova\u003C\/p\u003E\u003Cp\u003ESchool of Interactive Computing\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EDr. Harish Ravichandar\u003C\/p\u003E\u003Cp\u003ESchool of Interactive Computing\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EDr. Matthew Hale\u003C\/p\u003E\u003Cp\u003ESchool of Electrical and Computer Engineering\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EDr. Nicholas Roy\u003C\/p\u003E\u003Cp\u003EDepartment of Aeronautics and Astronautics\u003C\/p\u003E\u003Cp\u003EMassachusetts Institute of Technology\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EOptimizing Multi-Objective Task Allocation under Spatio-Temporal Constraints for Heterogeneous Multi-Robot Systems\u200b\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"Optimizing Multi-Objective Task Allocation under Spatio-Temporal Constraints for Heterogeneous Multi-Robot Systems"}],"uid":"27707","created_gmt":"2024-11-25 18:34:44","changed_gmt":"2024-11-25 18:35:14","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2024-12-06T11:30:00-05:00","event_time_end":"2024-12-06T13:00:00-05:00","event_time_end_last":"2024-12-06T13:00:00-05:00","gmt_time_start":"2024-12-06 16:30:00","gmt_time_end":"2024-12-06 18:00:00","gmt_time_end_last":"2024-12-06 18:00:00","rrule":null,"timezone":"America\/New_York"},"location":"Klaus 2108, ","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}