Tuesday, April 15, 2014

Lab meeting April 17, 2014 (Yen-Ting): Dense correspondence and annotation systems

I will present several state-of-the-art annotation systems and their relationship with dense correspondences. I will try to compare them with my own work now.

Reference papers:

LabelMe video: Building a Video Database with Human Annotations (ICCV 2009)

Efficiently Scaling up Crowdsourced Video Annotation (IJCV 2013)

Human-Assisted Motion Annotation (CVPR 2008)

Annotation Propagation in Large Image Databases via Dense Image Correspondence (ECCV 2012)

Wednesday, April 09, 2014

Lab meeting April 10, 2014 (Channing): "CAPT: Concurrent assignment and planning of trajectories for multiple robots"

Title: CAPT: Concurrent assignment and planning of trajectories for multiple robots

Authors: Matthew Turpin, Nathan Michael, and Vijay Kumar
             GRASP Laboratory, University of Pennsylvania, Philadelphia, USA

In: The International Journal of Robotics Research (IJRR), January 2014, 33: 98-112

In this paper, we consider the problem of concurrent assignment and planning of trajectories (which we denote CAPT) for a team of robots. This problem involves simultaneously addressing two challenges: (1) the combinatorially complex problem of finding a suitable assignment of robots to goal locations, and (2) the generation of collision-free, time parameterized trajectories for every robot. We consider the CAPT problem for unlabeled (interchangeable) robots and propose algorithmic solutions to two variations of the CAPT problem. The first algorithm, C-CAPT, is a provably correct, complete, centralized algorithm which guarantees collision-free optimal solutions to the CAPT problem in an obstacle-free environment. To achieve these strong claims, C-CAPT exploits the synergy obtained by combining the two subproblems of assignment and trajectory generation to provide computationally tractable solutions for large numbers of robots. We then propose a decentralized solution to the CAPT problem through d-CAPT, a decentralized algorithm that provides suboptimal results compared to C-CAPT . We illustrate the algorithms and resulting performance through simulation and experimentation.