From: gauravsu@pollux.usc.edu (Gaurav Sukhatme)
Newsgroups: la.seminars
Subject: Seminar Tues 10/20 at 10:00 a.m.
Date: 16 Oct 92 23:00:48 GMT
Distribution: la
Organization: USC Mail-To-News Gateway


                     CSGO Research Seminar
		     ---------------------	
CSGO, the Computer Science Graduate Organization, 
sponsors seminars to bring together students and 
researchers in the areas of Computer Science and 
Engineering, introducing the students to the 
researchers and providing a chance for the 
researchers to get to know the students.

Some of the talks during the semester will be given 
by senior Ph.D students.

There will be one seminar every week of approximately 
one hour duration followed by a question and answer 
session. 

The seminar is at 10:00 a.m. every Tuesday morning 
in SAL 324.
		  
Next week the seminar will be:
____________________________________________________________
            Optimal Motion Planning for a Rod in the Plane
                   Subject to Velocity Constraints
____________________________________________________________

Speaker : Yui-Bin Chen
	  Computer Science Department 
          University of Southern California
____________________________________________

		ABSTRACT
		--------
(***** This work is directed by Prof. D. Ierardi ******)


Motion planning is the problem of finding a sequence of continuous 
motions leading a given rigid object from an initial placement to 
its goal placement, without violating any of the predeterminated 
constraints.  We consider the case of moving an ideal rod, which 
can be modeled by a line segment, in the plane with a given speed 
limit.  With a velocity constraint, the following question was 
asked: ``What is the shortest time path to move a rod in a plane
without exceeding a given speed?''  In this talk, we will give a 
complete explicit solution for this optimalization problem and point 
out some extensions on this research topic.

First we analyze the relaxed motions, which have one endpoint 
following a straight line with maximum speed and are not unique, 
and describe canonical solutions for them.  These canonical 
solutions guarantee continuous accelerations, except at the beginning 
and at the end of path.  For the  strict motions, we classify them 
into pure rotations, pure translations, straight-line motions, 
and elliptic motions.  All of these motions guarantee continuous 
accelerations, except at the terminations of paths. We also prove 
the correctness, completeness, and uniqueness of these paths.
These solutions are later extended to some planar objects.

We also have informal solutions for planning optimal paths for a 
rod, with velocity constraints, among obstacles and boundaries.  
These results will be formally reported as a sequence of departmental 
technique reports. Other extensions of this optimalization problem 
include:

  . planning optimal motions for a rod in a 3-dimensional space,
  . planning planar motions for an arbitrary planar object, and
  . planning a planar motions for a rod with continuous acceleration
    (possibly bounded by a given value), including at the beginning 
    and at the end of the path.

_________________________________________________________

			Date : Tuesday 10/20/92
			Time : 10:00 a.m.
			Place: SAL 324
			Host : CSGO
________________________________________________________