Collision-avoidance algorithms are crucial for motion planning with multiple moving parts. Although most existing algorithms require considerable computation time to randomly generate and verify potential paths, my project will focus on a newly developed and optimized real-time method of generating known collision-free regions and achieving collision avoidance by finding paths only within these safe” regions. Our research will strive to expand how we evaluate these algorithms, including new configuration spaces, more complex goal trajectories, and physical evaluation. This will require developing new simulation domains for the algorithms and porting them over to a pair of robotic arms for physical demonstrations and testing.

I have really enjoyed the constant learning and discovery that has come with doing UROPs in the past, so I am excited to add to those experiences with the structure and mentorship of the SuperUROP program. I look forward to exploring a different facet of robotics research with the Robot Locomotion Group and hope to gain both publishable results and a more complete understanding of the academic research cycle.