Perception Integrity and Dependable Autonomy for Mobile Robots
Dr. Thierry Peynot (Australian Centre for Field Robotics (ACFR), The University of Sydney.)
NICTA SEMINARDATE: 2011-04-29
TIME: 14:00:00 - 15:00:00
LOCATION: NICTA - 7 London Circuit
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ABSTRACT:
The first part of this seminar will focus on Perception for Autonomous Ground Vehicles (AGV), in particular in challenging environmental conditions. It has been demonstrated that to aim at "Persistent Autonomy", reliability and integrity in autonomous perceptual systems need to be promoted. For this purpose, large multi-modal datasets were gathered in controlled environmental conditions, including the presence of dust, smoke and rain. An analysis of sensor data integrity has then been realized, to identify common perceptual failures, and on-going research is studying methods for mitigating these failures. These methods aim at evaluating the quality of sensing data and monitor the consistency of data provided by pairs of heterogeneous sensors such as laser and radar or visual camera and infrared camera. The second part will propose ideas to promote the dependability of ground robots in general, and further discuss links with the field of diagnosis. In particular, a method to achieve online probabilistic modality reconfiguration for the navigation of a mobile robot will be presented.
BIO:
Dr. Thierry Peynot is a Research Fellow at the Australian Centre for Field Robotics (ACFR), The University of Sydney, Australia. His current research interests include persistent autonomy, perception integrity and terrain interpretation for Autonomous Ground Vehicles. He is also interested in applying diagnosis techniques to real-world robotics problems. He received his PhD degree from the University of Toulouse in 2006, with a thesis prepared at LAAS-CNRS. From 2005 to 2007 he was also an Associate Lecturer (ATER) at University Toulouse III. In 2005 he was a visitor at the NASA Ames Research Centre in California. He has been an Associate Editor for the IEEE International Conference on Intelligent Robots and Systems (IROS) since 2008 and was Paper Chair of the Australasian Conference on Robotics and Automation (ACRA) in 2009.
