Mahya Mohammadi Kashani will give a talk about her work on Risk-Averse Planning and Plan Assessment for Marine Robots *. Details below.
SPEAKER
Mahya Mohammadi Kashani, PhD fellow, ITU.
TITLE
Risk-Averse Planning and Plan Assessment for Marine Robots *
ABSTRACT
Autonomous Underwater Vehicles (AUVs) need to
operate for days without human intervention and thus must be
able to do efficient and reliable task planning. Unfortunately,
efficient task planning requires deliberately abstract domain
models (for scalability reasons), which in practice leads to plans
that might be unreliable or under performing in practice. An
optimal abstract plan may turn out suboptimal or unreliable
during physical execution. To overcome this, we introduce a
method that first generates a selection of diverse high-level plans
and then assesses them in a low-level simulation to select the
optimal and most reliable candidate. We evaluate the method
using a realistic underwater robot simulation, estimating the
risk metrics for different scenarios, demonstrating feasibility
and effectiveness of the approach.