Yuxiao Chen’s Formal Design Process: Achieving Ever-Greater Balance Between Safety and Performance

The concept of “formal methods”, also know as “correct by construction” is applied to the trajectory planning for mobile robots/small autonomous vehicles. The main challenges are (i) the presence of multiple moving objects (pedestrians, other robots/vehicles), and (ii) plant uncertainties. We aim to address both in our research.

The example publications show a formal design process to deal with multiple moving objects (without considering plant uncertainties). Our method achieves better balance between safety (zero collision!) and performance (the robot does not keep stopping to avoid collisions) compared with other methods from the literature.

Mr. Yuxiao Chen is a U-M graduate student co-advised by Professors Huei Peng and Jessy Grizzle.


Robotics Day 2017

Kevin French, a Ph.D. student in robotics, demonstrates a robotic arm, controlled with a Wii controller, that his group built for the Robotics Day technology showcase that took place Tuesday at the North Campus Research Complex. The event showcases state-of-the-art robotic technologies and educational efforts from universities, school districts, industry and government agencies across Michigan. (Photo by Akhil Kantipuly, College of Engineering)


U-M CSE Graduate Students present papers at ICAPS 2017

CSE graduate students Qi Zhang and Shun Zhang will present exciting research papers at ICAPS 2017, the 27th International Conference on Automated Planning and Scheduling, taking place this June at Carnegie Mellon University in Pittsburgh PA.

Here are the papers:

Minimizing Maximum Regret in Commitment Constrained Sequential Decision Making

Approximately-Optimal Queries for Planning in Reward-Uncertain Markov Decision Processes

 


Distinguished Leadership Awardee- Katie Skinner!

Congrats to current Ph.D student Katie Skinner on her Distinguished Leadership Award! 

This award is presented to the outstanding graduate students of the College of Engineering who have demonstrated outstanding leadership and service to the College, University, and community. Katie will be honored at the Leaders and Honors Brunch on March 19th. 

Congrats Katie!

 

 


RGSC End of Semester Celebtration

 
As a way to celebrate the end end of the semester and the holiday season and take a break from exam studies, RGSC held a White Elephant gift exchange party. Enthusiasm and the holiday spirit were high, and everybody had a relaxing and fun time, as we enjoyed food, socializing, presents, and a lot of laughs. This is likely to become an annual event for the robotics group.
 
Michigan Robotics students wish you a Happy New Year!
 
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Take another look at robotic locomotion and morphology!

Selecting gaits for economical locomotion of legged robots

This paper explores the benefits of using multiple gaits in a single robot.

Weitao Xi, Yevgeniy Yseilevskiy, C. David Remy
Sage journals

 

Research on the simultaneous optimization of motion and morphology; comparing different actuators in legged robots:

A comparison of series and parallel elasticity in a Monoped hopper

Optimal configuration of series and parallel elasticity in a 2D Monoped

The video of the comparison:

 

 


Open-access Automated Cars Will Advance Driverless Research

New University of Michigan research vehicles will be open testbeds for academic and industry researchers to rapidly test self-driving and connected vehicle technologies at a world-class proving ground – Mcity.   

A roundabout at Mcity.
Mcity, a test site for autonomous vehicles that emulates the urban driving experience, is just half a mile from the Robotics Institute site.

Michigan Engineering article.          


Strolling Among the Fall Colors & MARLO vs Wave Field II – aka “Fall/No Fall”

snapshot-1-11-11-2016-8-43-amResearch has its super intense moments and its pleasures. In the video MARLO vs. Wave Field our intrepid bipedal friend renews an ongoing battle, this time equipped with a new nonlinear control algorithm incorporating machine learning. More recently, MARLO took a stroll near SRB and the Wave Field, with the objective of enjoying the beautiful fall colors.