{"686360":{"#nid":"686360","#data":{"type":"event","title":"PhD Defense by Jinwoo Park","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u003C\/strong\u003E\u0026nbsp;Multi-Objective Task Allocation and Scheduling for Heterogeneous Multi-Robot Systems\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EDate\u003C\/strong\u003E: Tuesday, November 18th, 2025\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ETime\u003C\/strong\u003E: 11:00 am - 1\u0026nbsp;pm EST\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ELocation\u003C\/strong\u003E: (In person) Klaus 2108, or (Virtual) \u003Ca href=\u0022https:\/\/gatech.zoom.us\/my\/jinwoop?pwd=OFJhVTcwNGI3ZW1YdERzWHgrUzZIZz09\u0022 title=\u0022https:\/\/gatech.zoom.us\/my\/jinwoop?pwd=OFJhVTcwNGI3ZW1YdERzWHgrUzZIZz09\u0022\u003EZoom\u003C\/a\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cbr\u003E\u003Cstrong\u003EJinwoo Park\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003ERobotics Ph.D. Candidate\u003Cbr\u003EInstitute for Robotics and Intelligent Machines\u003C\/p\u003E\u003Cp\u003EDaniel Guggenheim School of Aerospace Engineering\u003Cbr\u003EGeorgia Institute of Technology\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) - Khoury College of Computer Sciences, Northeastern University\u003C\/p\u003E\u003Cp\u003EDr. Harish Ravichandar - School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Sonia Chernova - School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Nicholas Roy - Department of Aeronautics and Astronautics, Massachusetts Institute of Technology \u0026nbsp;\u003C\/p\u003E\u003Cp\u003EDr. Matthew Hale - School of Electrical and Computer Engineering, Georgia Institute of Technology\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\u003ECoordinating trait-based heterogeneous multi-robot systems requires addressing interdependent challenges such as task allocation, scheduling, and execution under spatiotemporal and resource constraints.\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EThese challenges become more complex when considering trait uncertainty, task priority, battery limitations, task and team compatibility, and guarantees of collision- and deadlock-free execution.\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EPrior work has addressed these issues partially and often in isolation, but it typically does not consider multi-robot task allocation in time-extended settings, where planning occurs over longer horizons.\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EThis dissertation \u003Cstrong\u003Eexamines multiple problem-specific frameworks for trait-based, time-extended multi-robot task allocation.\u0026nbsp;\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EEach framework addresses a distinct coordination challenge, including trait uncertainty, the provisioning of exhaustible traits, task prioritization, safe execution, and task and team compatibility in multi-human multi-robot settings.\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003ETogether, these frameworks improve the feasibility, efficiency, and adaptability of heterogeneous multi-robot teams in realistic and demanding scenarios.\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EThe main contributions of this dissertation are as follows:\u003Cbr\u003E(i) a probabilistic task allocation framework that models uncertainty in robot and task traits using statistical hypothesis testing, thereby enabling tighter temporal constraints while providing theoretical guarantees on solution quality;\u003Cbr\u003E(ii) a dynamic trait modeling framework that captures time-varying and exhaustible traits under battery constraints;\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E(iii) an integrated planning and execution framework that incorporates task priority into both high-level planning and low-level control, employing priority-aware control barrier functions to ensure timely and collision-free execution while permitting flexibility in path following; and\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E(iv) a compatibility-aware teaming framework for multi-human, multi-robot coordination, which incorporates task and team compatibility into the problem formulation.\u003C\/p\u003E","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EMulti-Objective Task Allocation and Scheduling for Heterogeneous Multi-Robot Systems\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"Multi-Objective Task Allocation and Scheduling for Heterogeneous Multi-Robot Systems"}],"uid":"27707","created_gmt":"2025-11-11 17:22:08","changed_gmt":"2025-11-11 17:22:08","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2025-11-18T11:00:00-05:00","event_time_end":"2025-11-18T13:00:00-05:00","event_time_end_last":"2025-11-18T13:00:00-05:00","gmt_time_start":"2025-11-18 16:00:00","gmt_time_end":"2025-11-18 18:00:00","gmt_time_end_last":"2025-11-18 18:00:00","rrule":null,"timezone":"America\/New_York"},"location":"(In person) Klaus 2108, or (Virtual) ","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"100811","name":"Phd Defense"}],"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":""}}}