Robotics Ph.D. Speaking Qualifier

  • Remote Access - Zoom
  • Virtual Presentation - ET
  • KATHERINE SHIH
  • Ph.D. Student
  • Robotics Institute
  • Carnegie Mellon University
Speaking Skills

Modeling Coupled Human-Robot Motion for Provable Safety

Guide robots that help users who are blind or low vision navigate through crowds and complex environments show promise for improving accessibility in public spaces. These robots must provide real-time safety guarantees for the users, which requires accurate modeling of their behavior in the context of closely coupled human-robot motion. This model must also take into account human agency, including any safety adaptations made by the users themselves. In this talk, I review the use of control barrier functions for provable safety. I propose a model for human behavior within the structure of a coupled control system, and discuss performance on trajectories synthesized from real-world data.

Committee:
Aaron Steinfeld (Advisor)
Changliu Liu
Henny Admoni
Leo Keselman

Zoom Participation. See announcement.

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