MechE Colloquium: From Motion to Mission Planning via Augmented Graphs of Convex Sets

Speaker: <a href="https://me.utdallas.edu/faculty/tyler-summers/">Prof. Tyler Summers</a>, <a href="https://me.utdallas.edu/">Mechanical engineering,</a> <a href="https://www.utdallas.edu/">The University of Texas at Dallas</a> Organiser: <a href="https://people.epfl.ch/maryam.kamgarpour">Prof. Maryam Kamgarpour</a> <strong>Abstract: </strong>Robot motion planning has traditionally focused on navigating obstacle-laden environments: computing smooth, collision-free trajectories from start to goal. Many real-world missions, however, require satisfying logical precedence constraints: collecting resources before accessing restricted zones, completing subtasks in a prescribed order, or acquiring tools before they can be used. This talk presents the augmented graph of convex sets (augmented GCS) framework, which unifies continuous trajectory optimization and combinatorial task sequencing within a single optimiz