**Contact Info**

Department of Applied Mathematics

University of Waterloo

Waterloo, Ontario

Canada N2L 3G1

Phone: 519-888-4567, ext. 32700

Fax: 519-746-4319

PDF files require Adobe Acrobat Reader

Tuesday, February 21, 2023 9:30 AM EST

MS Teams: Please email amgrad@uwaterloo.ca for the meeting link

Yating Yuan | Applied Mathematics, University of Waterloo

Planning and Control as Probabilistic Inference on Factor Graphs

Planning and optimal control under uncertainty are central problems in the field of autonomous robotics. While planning methods or optimal control algorithms as probabilistic inferences have been separately developed over the past decades, the main purpose of this proposal is to present a unified framework for planning collision-free trajectories and finding the optimal controls together via probabilistic inference. In this framework, Gaussian Processes (GPs) will be used to represent discrete-time trajectories, the signed distance field is employed to represent the environment information for obstacle cost, then the optimal problem can be defined as a distribution over trajectories and controls and be treated as a Maximum A Posterior (MAP) estimation problem. Moreover, with Bayes’ law and factor graphs, the MAP can be factorized and transformed into a nonlinear least squares problem that can be solved by numerical tools, such as QR decomposition and Cholesky factorization. On the other hand, the control policy is inferred by variable elimination. Finally, we conduct comparison experiments to show the feasibility of the proposed framework.

Event tags

**Contact Info**

Department of Applied Mathematics

University of Waterloo

Waterloo, Ontario

Canada N2L 3G1

Phone: 519-888-4567, ext. 32700

Fax: 519-746-4319

PDF files require Adobe Acrobat Reader

University of Waterloo

University of Waterloo

43.471468

-80.544205

200 University Avenue West

Waterloo,
ON,
Canada
N2L 3G1

The University of Waterloo acknowledges that much of our work takes place on the traditional territory of the Neutral, Anishinaabeg and Haudenosaunee peoples. Our main campus is situated on the Haldimand Tract, the land granted to the Six Nations that includes six miles on each side of the Grand River. Our active work toward reconciliation takes place across our campuses through research, learning, teaching, and community building, and is co-ordinated within the Office of Indigenous Relations.