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Talks & Seminars
Title: Motion Planning for Multiple Autonomous Vehicles
Dr. Rahul Kala, Assistant Professor, IIIT Allahabad , Indian Institute of Information Technology, Allahabad
Date & Time: November 13, 2014 15:00
Venue: 1st Floor, Conference Room, Kanwal Rekhi Building.
Abstract:
India (and some other countries) possesses a characteristic traffic which clearly displays crazy dynamics like vehicles of the science fiction/action movies. We hate rules and not adhering to the marked lanes is the primary cause giving rise to unorganized traffic, wherein one can freely move laterally on the road disrespecting all lanes. Unorganized traffic can lead to higher traffic efficiency when the vehicles are diverse in sizes and speed capabilities – a factor currently dominant in India. Any person who has his/her own dream world of the future would understand the diversity of the future transportation system, which the autonomous vehicles are already very likely to bring, and thus necessitating the need of unorganized traffic. So how long lived are the algorithms which move autonomous vehicles with the assumption of well-defined lanes? The talk starts with the basics of the autonomous vehicle technology, which is a specialized case of mobile robotics. The main item or sub-problem in the agenda is motion planning. Given a map produced by vision systems, the outcome of motion planning is then responsible for all vehicle decisions, which includes a mechanism to avoid static obstacles and other vehicles in a cooperative manner. While the literature is dominantly occupied by algorithms for motion planning of autonomous vehicles for organized traffic, the talk covers how we can apply the 'Indian touch' to the mobile robotics algorithms to make them good choice of algorithms for motion planning in unorganized traffic. A memory of the close accidents, some rash driving experiences and some sane driving traits is all that is needed to tell a program how to drive in India or unorganized traffic. This talk will simply takes popular algorithms from the mobile robotics literature, models them as per traffic scenarios, embeds in them the notions of overtaking and vehicle following as heuristics for faster and better planning. The talk would then talk about the bigger picture or intelligent management of transportation systems with intelligent agents performing in diverse traffic, just like the overly active cops on roads trying to manage a diverse mess. The talk covers efficient routing strategy for a typical city road infrastructure which avoids congestion and a scheduling algorithm for vehicles on road, so as to reach the destination on time with cooperation of the other vehicles, if needed.
Speaker Profile:
Dr. Rahul Kala received his Ph.D. degree in Cybernetics from the University of Reading, UK in 2013. He received the B.Tech. and M.Tech. degrees in Information Technology from IIITM Gwalior in 2010. He is currently working as an Assistant Professor in IIIT Allahabad in the Robotics and Artificial Intelligence Laboratory. He is the author of 3 books and over 70 papers including 17 papers indexed by the SCI. He is the recipient of numerous prestigious awards including the Best Dissertation Award by the IEEE Intelligent Transportation Systems Society for his PhD dissertation which he'll be discussing today; Lord of the Code Scholarship from IIT Bombay and RedHat; and Commonwealth Scholarship and Fellowship Program from the UK Government for his fully funded PhD in the UK.
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