1 Anna Yershova Dept. of Computer Science, Duke University October 20, 2009 Anna Yershova Anna Yershova NIFP Workshop, Rice University Sampling and Searching Methods Sampling and Searching Methods in in Robotics and Computational Robotics and Computational Biology Biology
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Anna Yershova Dept. of Computer Science, Duke University October 20, 2009
Sampling and Searching Methods in Robotics and Computational Biology. Anna Yershova Dept. of Computer Science, Duke University October 20, 2009. Anna Yershova. NIFP Workshop, Rice University. Introduction. Research Theme. - PowerPoint PPT Presentation
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Anna YershovaDept. of Computer Science, Duke University
October 20, 2009
Anna YershovaAnna Yershova NIFP Workshop, Rice University
Sampling and Searching Methods inSampling and Searching Methods inRobotics and Computational BiologyRobotics and Computational BiologySampling and Searching Methods inSampling and Searching Methods inRobotics and Computational BiologyRobotics and Computational Biology
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Anna YershovaAnna Yershova
IntroductionIntroduction
Research ThemeResearch ThemeResearch ThemeResearch Theme
Underlying spaces in many real-world problems have similar geometric and topological structures. Ideas and methods used to solve these problems are shared across disciplines.
Examples: Configuration and state spaces in motion planning Information spaces in robotics Conformation spaces in structural computational biology
High-dimensional manifolds, or collections of manifolds
Publications:Publications: Generating Uniform Incremental Grids on SO(3) Using the Hopf Fibrations
(with S. Jain, S. M. LaValle and J.C. Mitchell)International Journal on Robotics Research (IJRR 2009), in press
Generating Uniform Incremental Grids on SO(3) Using the Hopf Fibrations(with S. M. LaValle and J. C. Mitchell)International Workshop on the Algorithmic Foundations of Robotics (WAFR 2008)
Deterministic sampling methods for spheres and SO(3) (with S. M. LaValle)IEEE International Conference on Robotics and Automation (ICRA 2004)
Incremental Grid Sampling Strategies in Robotics (with S. R. Lindemann, and S. M. LaValle)International Workshop on the Algorithmic Foundations of Robotics (WAFR 2004)
Publications:Publications: Improving Motion Planning Algorithms by Efficient Nearest Neighbor Searching
(with S. M. LaValle)IEEE Transactions on Robotics 23(1):151-157, February 2007
Efficient Nearest Neighbor Searching for Motion Planning(with S. M. LaValle)In Proc. IEEE International Conference on Robotics and Automation (ICRA 2002)
Open-source library:Open-source library:
http://msl.cs.uiuc.edu/~yershova/mpnn/mpnn.tar.gz
Also implemented in Move3D at LAAS, and KineoWorksAlso implemented in Move3D at LAAS, and KineoWorksTMTM
OutcomesOutcomesOutcomesOutcomes
NIFP Workshop, Rice University
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Sensing Uncertainty in RoboticsTechnical ContributionsTechnical Contributions
Contributions by TopicContributions by TopicContributions by TopicContributions by Topic
Anna YershovaAnna Yershova
Motion Planning• uniform deterministic sampling over configuration spaces• efficient nearest-neighbor computations• guided sampling for efficient exploration
Planning Under Sensing Uncertainty• mapping and pursuit-evasion with a wall-following robotmapping and pursuit-evasion with a wall-following robot
Structural Computational Biology• exact protein structure determination from sparse NMR
data
NIFP Workshop, Rice University
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Technical ContributionsTechnical Contributions Sensing Uncertainty in Robotics
Planning in Information SpacesPlanning in Information SpacesPlanning in Information SpacesPlanning in Information Spaces
I-space: space of all cut diagrams of planar environments
Anna YershovaAnna Yershova NIFP Workshop, Rice University
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OutcomesOutcomesOutcomesOutcomesTechnical ContributionsTechnical Contributions Sensing Uncertainty in Robotics
Publications: Publications: Mapping and Pursuit-Evasion Strategies For a Simple Wall-Following Robot
(with B. Tovar, R. Ghrist, and S. M. LaValle)submitted to IEEE Transactions on Robotics, 2009
Extracting Visibility Information by Following Walls(with B. Tovar, and S. M. LaValle)In Dagstuhl Seminar Proceedings, 06421,Internationales Begegnungs- und Forschungszentrum fuer Informatik (IBFI),Schloss Dagstuhl, Germany, 2007.
Information Spaces for Mobile Robots(with B. Tovar, J. M. O'Kane, and S. M. LaValle)invited paper at Fifth International Workshop on Robot Motion and Control (RoMoCo 2005)
Bitbots: Simple Robots Solving Complex Tasks(with B. Tovar, R. Ghrist, and S. M. LaValle)In Proc. The Twentieth National Conference on Artificial Intelligence (AAAI 2005)
Anna YershovaAnna Yershova NIFP Workshop, Rice University
Conformation of the portion [25-31] of the helix for human ubiquitin computed using NH and CH RDCs in two media (red) has been superimposed on the same portion from high-resolution X-ray structure (PDB Id: 1UBQ) (green). The backbone RMSD is 0.58 Å.
Protein Structure Determination using Sparse Orientational Restraints from NMR Data (with C. Tripathy, P. Zhou, B. R. Donald)Biochemistry Department Retreat, NC Biotechnology Center, RTP, NC, 2009.Winner of Best Poster Award.
Anna YershovaAnna Yershova NIFP Workshop, Rice University
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Apply and extend the mathematical tools needed for solving problems in
Robotics Algebraic varieties Trajectories
Computational Biology Other NMR data Other imaging techniques
potentially other disciplines
Technology transfer between disciplines
ConclusionsConclusions
Conclusions and Future GoalsConclusions and Future GoalsConclusions and Future GoalsConclusions and Future Goals
Anna YershovaAnna Yershova NIFP Workshop, Rice University
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ConclusionsConclusions
Conclusions and Future DirectionsConclusions and Future DirectionsConclusions and Future DirectionsConclusions and Future Directions
Thank you!
Anna YershovaAnna Yershova NIFP Workshop, Rice University
Publications:Publications: Adaptive Tuning of the Sampling Domain for Dynamic-Domain RRTs
(with L. Jaillet, S. M. LaValle and T. Simeon)In Proc. IEEE International Conference on Intelligent Robots and Systems (IROS 2005)
Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain (with L. Jaillet, T. Simeon, and S. M. LaValle)In Proc. IEEE International Conference on Robotics and Automation (ICRA 2005)
Also implemented in Also implemented in Move3D at LAAS KineoWorksTM