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
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, our main purpose here 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 continuous-time trajectories, 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 least squares problem that can be solved easily by numerical tools, such as Gaussian-Newton or Levenberg-Marquardt methods. We conduct comparison experiments to show the feasibility of the proposed framework.
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
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.