Speaker: Dr. Abhra Roy Chowdhury
Affiliation: Assistant Professor at the Centre for Product Design and Manufacturing, Indian Institute of Science, Bangalore
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Talk Timings: May 22, 2021 (Saturday), 11 AM- 12 PM
Last Date for Registration: May 21, 2021 (Friday), 11:59 PM
Abstract:
This work has been carried out to implement the Rapidly exploring Random Tree (RRT) Algorithm for designing a path in a 2D workspace cluttered with different human activities perceived as obstacles of different densities in a collaborative human-robot search operation-based Industry 4.0 environment. RRT based learning is an autonomous path planning algorithm suitable for perceiving environments with differential and non-holonomic constraints. Paths have been generated between an initial point, START to destination point, GOAL amidst uncertain temporal objects met when they are near and far. The algorithm starts to expand the search tree from the START node by randomly exploring the workspace until the GOAL is reached in the presence of these obstacles. The solution is a locus of points in the workspace between source and destination. This has been done for sparsely distributed human activity as obstacles encapsulating waypoint and lower and higher obstacle densities as observed in a real collaborative search environment. The generated paths were evaluated for closeness and impact of different kinds of dynamic obstacle configurations in a real experimental test bed.
Bio:
Dr. Abhra Roy Chowdhury is serving as an Assistant Professor at the Centre for Product Design and Manufacturing, Indian Institute of Science, Bangalore. Previously, he was holding a Senior Research Fellow position with the Temasek Labs at the Singapore University of Technology and Design (SUTD) in collaboration with MIT during 2016 – 2019. He was also a senior member of the robotics research team at the Robotics Innovation Lab Singapore. He earned his Ph.D. degree in ‘Robotics and Autonomous Systems’ from the Department of Electrical and Computer Engineering, National University of Singapore in 2015. He has received his M. Tech degree from the Department of Electrical Engineering, Indian Institute of Technology (IIT) BHU Varanasi, India in 2010. He was associated with LG Electronics India as a Senior Design Engineer between 2010-2011. He has consistently been the publisher, reviewer and editor of quality research articles in peer reviewed journals. He has delivered several invited talks in top-tier IEEE international conferences in Robotics and Autonomous systems e.g. IEEE ICRA, IROS, International Federation of Automatic Control (IFAC) World Congress, CDC, ACC etc. He holds various accolades and awards including Singapore Mark Design Award, IEEE Industry Applications Society (IAS) Best PhD Thesis Award, IEEE Oceanic Engineering Society (OES) Award, IEEE-SICE (Japan) Research Award, IEEE-ICROS (S. Korea) Best Student Research Award, the President of India IIT Gold Medal, LG Gold Medal and Scholarship. More information about his research can be found https://cpdm.iisc.ac.in/ril/, www.abhraroychowdhury.org