Abstract:
This habilitation thesis focuses on motion planning in robotics and computational biochemistry. The lecture will cover the main contributions of the applicant to the field. The key contributions are novel techniques that improve the performance (i.e., speed) of sampling-based planners in cluttered and high-dimensional environments. The techniques quickly find multiple approximate solutions (obtained by solving a similar, yet simpler, problem) and use them to guide the search in the configuration space. This leads to the problem of finding topologically distinct paths, which we studied in 3D environments. We further describe how to improve the performance of asymptotically optimal motion planning. We will demonstrate the application of these techniques in the domain of computational biochemistry, where motion planning can analyze possible movements of small molecules inside protein structures.
10.06.2026, 13.00 - 14.00, T2:D3-209, prezenční formou
