Feb 27th: Seminar on Motion Planning and Target-Capturing Algorithms

Dr. Mangal Kothari, who is currently working as a Post Doctoral Researcher in the Northumbria University, UK, would be giving a talk as per the following schedule. All interested are welcome to attend. Tea will be served at 3:15 pm.

Dr. Kothari is a candidate for the faculty position in the Aerospace Engineering Department. Abstract of his talk and a brief biographical sketch are also appended below.

Speaker:    Dr. Mangal Kothari
Title:         Motion Planning and Target-Capturing Algorithms 
Date  :      Thursday, Feb 27, 2014
Time  :      03:30 PM
Venue :    AE seminar room

Abstract

In this talk, motion planning and target-capturing algorithms for aerospace applications will be presented. In the first part, a probabilistically robust motion planner for unmanned aerial vehicles (UAVs) will be discussed that combines philosophies of probabilistic approaches that include rapidly-exploring random trees (RRTs), chance constraint, and overlapping coefficient. The motion planner takes various forms of uncertainties present in the real world into account while planning the paths. To manage the level of uncertainty, the most likely future measurements are considered and then a priori closed-loop distribution is predicted.The predicted distributions are used to determine feasibility of while growing the tree to find in uncertain environments. In the second part, I will briefly outline my research contributions in the area of coordination of multi-UAV systems. Finally, I will outline my future research plans and teaching interests.

About the Speaker

Mangal Kothari did his B.E from University of Rajasthan, Masters from Indian Institute of Science, Bangalore, and Ph.D from University of Leicester. His research interests include guidance, control, and navigation of aerospace vehicles. He has worked on optimal control, motion planning of UAVs, and coordination of multiple UAVs. He is currently a postdoctoral fellow at Northumbria University and working on cooperative algorithms. He earlier worked as a scientist at National Aerospace Laboratories, Bangalore, and was a postdoctoral fellow at the University of Porto for a short period of time. He also visited MIT for six months to do some part of his doctoral research in collaboration with Prof. Jonathan P How at Aerospace Control Laboratory.