Lydia E. Kavraki

Bio: Lydia E. Kavraki is an academic researcher from Rice University. The author has contributed to research in topics: Motion planning & Robot. The author has an hindex of 64, co-authored 307 publications receiving 20451 citations. Previous affiliations of Lydia E. Kavraki include Baylor College of Medicine & University of Southern California.

Probabilistic roadmaps for path planning in high-dimensional configuration spaces

Abstract: A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).

The Open Motion Planning Library

Abstract: The open motion planning library (OMPL) is a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms. The library is designed in a way that it allows the user to easily solve a variety of complex motion planning problems with minimal input. OMPL facilitates the addition of new motion planning algorithms, and it can be conveniently interfaced with other software components. A simple graphical user interface (GUI) built on top of the library, a number of tutorials, demos, and programming assignments are designed to teach students about sampling-based motion planning. The library is also available for use through Robot Operating System (ROS).

Path planning using lazy PRM

Abstract: Describes an approach to probabilistic roadmap planners (PRMs). The overall theme of the algorithm, called Lazy PRM, is to minimize the number of collision checks performed during planning and hence minimize the running time of the planner. Our algorithm builds a roadmap in the configuration space, whose nodes are the user-defined initial and goal configurations and a number of randomly generated nodes. Neighboring nodes are connected by edges representing paths between the nodes. In contrast with PRMs, our planner initially assumes that all nodes and edges in the roadmap are collision-free, and searches the roadmap at hand for a shortest path between the initial and the goal node. The nodes and edges along the path are then checked for collision. If a collision with the obstacles occurs, the corresponding nodes and edges are removed from the roadmap. Our planner either finds a new shortest path, or first updates the roadmap with new nodes and edges, and then searches for a shortest path. The above process is repeated until a collision-free path is returned. Lazy PRM is tailored to efficiently answer single planning queries, but can also be used for multiple queries. Experimental results presented in the paper show that our lazy method is very efficient in practice.

Practical robust localization over large-scale 802.11 wireless networks

Abstract: We demonstrate a system built using probabilistic techniques that allows for remarkably accurate localization across our entire office building using nothing more than the built-in signal intensity meter supplied by standard 802.11 cards. While prior systems have required significant investments of human labor to build a detailed signal map, we can train our system by spending less than one minute per office or region, walking around with a laptop and recording the observed signal intensities of our building's unmodified base stations. We actually collected over two minutes of data per office or region, about 28 man-hours of effort. Using less than half of this data to train the localizer, we can localize a user to the precise, correct location in over 95% of our attempts, across the entire building. Even in the most pathological cases, we almost never localize a user any more distant than to the neighboring office. A user can obtain this level of accuracy with only two or three signal intensity measurements, allowing for a high frame rate of localization results. Furthermore, with a brief calibration period, our system can be adapted to work with previously unknown user hardware. We present results demonstrating the robustness of our system against a variety of untrained time-varying phenomena, including the presence or absence of people in the building across the day. Our system is sufficiently robust to enable a variety of location-aware applications without requiring special-purpose hardware or complicated training and calibration procedures.

Robotics-based location sensing using wireless ethernet

Abstract: A key subproblem in the construction of location-aware systems is the determination of the position of a mobile device. This paper describes the design, implementation and analysis of a system for determining position inside a building from measured RF signal strengths of packets on an IEEE 802.11b wireless Ethernet network. Previous approaches to location awareness with RF signals have been severely hampered by non-linearity, noise and complex correlations due to multi-path effects, interference and absorption. The design of our system begins with the observation that determining position from complex, noisy and non-linear signals is a well-studied problem in the field of robotics. Using only off-the-shelf hardware, we achieve robust position estimation to within a meter in our experimental context and after adequate training of our system. We can also coarsely determine our orientation and can track our position as we move. By applying recent advances in probabilistic inference of position and sensor fusion from noisy signals, we show that the RF emissions from base stations as measured by off-the-shelf wireless Ethernet cards are sufficiently rich in information to permit a mobile device to reliably track its location.

I and i

Abstract: There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality. Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

Planning Algorithms: Introductory Material

Abstract: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms. The treatment is centered on robot motion planning but integrates material on planning in discrete spaces. A major part of the book is devoted to planning under uncertainty, including decision theory, Markov decision processes, and information spaces, which are the “configuration spaces” of all sensor-based planning problems. The last part of the book delves into planning under differential constraints that arise when automating the motions of virtually any mechanical system. Developed from courses taught by the author, the book is intended for students, engineers, and researchers in robotics, artificial intelligence, and control theory as well as computer graphics, algorithms, and computational biology.

Probabilistic roadmaps for path planning in high-dimensional configuration spaces

Abstract: A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).

“Bioinformatics” 특집을 내면서

Abstract: BIOE 402. Medical Technology Assessment. 2 or 3 hours. Bioentrepreneur course. Assessment of medical technology in the context of commercialization. Objectives, competition, market share, funding, pricing, manufacturing, growth, and intellectual property; many issues unique to biomedical products. Course Information: 2 undergraduate hours. 3 graduate hours. Prerequisite(s): Junior standing or above and consent of the instructor.

Protein structure prediction on the Web: a case study using the Phyre server.

Abstract: Determining the structure and function of a novel protein is a cornerstone of many aspects of modern biology. Over the past decades, a number of computational tools for structure prediction have been developed. It is critical that the biological community is aware of such tools and is able to interpret their results in an informed way. This protocol provides a guide to interpreting the output of structure prediction servers in general and one such tool in particular, the protein homology/analogy recognition engine (Phyre). New profile–profile matching algorithms have improved structure prediction considerably in recent years. Although the performance of Phyre is typical of many structure prediction systems using such algorithms, all these systems can reliably detect up to twice as many remote homologies as standard sequence-profile searching. Phyre is widely used by the biological community, with >150 submissions per day, and provides a simple interface to results. Phyre takes 30 min to predict the structure of a 250-residue protein.