Talk by Jan Faigl, July 9, 3pm, on Multi-Goal Path Planning in Mobile Robotics

Multi-goal path planning is a problem to find a shortest path for a robot to visit a given set of locations in the robot's operating environment. This problem can be found in many practical applications where mobile robots are requested to collect information about the environment or to visit desired sites. This planning problem can be formulated as the traveling salesman problem or multiple traveling salesman problem in a case of a multi-robot team.

In this talk, I will show how variants of these problems can be used to address various planning problems in mobile robotics. I will provide examples of multi-robot planning, reduction of localization uncertainty in autonomous navigation, solution of 3D inspection planning problem, multi-robot exploration, and improvement of solution quality in autonomous data collection.

Jan Faigl received his Ph.D. degree in artificial intelligence and
biocybernetics from the Czech Technical University in Prague (CTU) in
2010. The topic of his Ph.D. thesis is Multi-Goal Path Planning for Cooperative Sensing,
 which has been award for Antonin Svoboda prize for the best Ph.D.
thesis by Czech Society for Cybernetics and Informatics. Since 2006 he
has acted as research fellow at the Gerstner Laboratory, CTU till 2012.
During 2003-2006, he worked as system analyst and programmer at ProTyS,
Inc. on design and development of systems for railway safety and
diagnostics. In 2013, he joined the Agent Technology Center and works on
 topics related to computational robotics. He is an author or coauthor
of more than 50 publications in the peer-reviewed journals and
conferences. His interests include planning, reasoning and navigation
methods for autonomous intelligent mobile robotic systems for
inspection, surveillance and exploration missions and long-term
environment monitoring.