Matching Items (28)
Filtering by
- All Subjects: deep learning
- Creators: Li, Baoxin
- Creators: Chakrabarti, Chaitali
Description
The increased use of commercial complementary metal-oxide-semiconductor (CMOS) technologies in harsh radiation environments has resulted in a new approach to radiation effects mitigation. This approach utilizes simulation to support the design of integrated circuits (ICs) to meet targeted tolerance specifications. Modeling the deleterious impact of ionizing radiation on ICs fabricated in advanced CMOS technologies requires understanding and analyzing the basic mechanisms that result in buildup of radiation-induced defects in specific sensitive regions. Extensive experimental studies have demonstrated that the sensitive regions are shallow trench isolation (STI) oxides. Nevertheless, very little work has been done to model the physical mechanisms that result in the buildup of radiation-induced defects and the radiation response of devices fabricated in these technologies. A comprehensive study of the physical mechanisms contributing to the buildup of radiation-induced oxide trapped charges and the generation of interface traps in advanced CMOS devices is presented in this dissertation. The basic mechanisms contributing to the buildup of radiation-induced defects are explored using a physical model that utilizes kinetic equations that captures total ionizing dose (TID) and dose rate effects in silicon dioxide (SiO2). These mechanisms are formulated into analytical models that calculate oxide trapped charge density (Not) and interface trap density (Nit) in sensitive regions of deep-submicron devices. Experiments performed on field-oxide-field-effect-transistors (FOXFETs) and metal-oxide-semiconductor (MOS) capacitors permit investigating TID effects and provide a comparison for the radiation response of advanced CMOS devices. When used in conjunction with closed-form expressions for surface potential, the analytical models enable an accurate description of radiation-induced degradation of transistor electrical characteristics. In this dissertation, the incorporation of TID effects in advanced CMOS devices into surface potential based compact models is also presented. The incorporation of TID effects into surface potential based compact models is accomplished through modifications of the corresponding surface potential equations (SPE), allowing the inclusion of radiation-induced defects (i.e., Not and Nit) into the calculations of surface potential. Verification of the compact modeling approach is achieved via comparison with experimental data obtained from FOXFETs fabricated in a 90 nm low-standby power commercial bulk CMOS technology and numerical simulations of fully-depleted (FD) silicon-on-insulator (SOI) n-channel transistors.
ContributorsSanchez Esqueda, Ivan (Author) / Barnaby, Hugh J (Committee member) / Schroder, Dieter (Thesis advisor) / Schroder, Dieter K. (Committee member) / Holbert, Keith E. (Committee member) / Gildenblat, Gennady (Committee member) / Arizona State University (Publisher)
Created2011
Description
This dissertation addresses challenges pertaining to multi-junction (MJ) solar cells from material development to device design and characterization. Firstly, among the various methods to improve the energy conversion efficiency of MJ solar cells using, a novel approach proposed recently is to use II-VI (MgZnCd)(SeTe) and III-V (AlGaIn)(AsSb) semiconductors lattice-matched on GaSb or InAs substrates for current-matched subcells with minimal defect densities. CdSe/CdTe superlattices are proposed as a potential candidate for a subcell in the MJ solar cell designs using this material system, and therefore the material properties of the superlattices are studied. The high structural qualities of the superlattices are obtained from high resolution X-ray diffraction measurements and cross-sectional transmission electron microscopy images. The effective bandgap energies of the superlattices obtained from the photoluminescence (PL) measurements vary with the layer thicknesses, and are smaller than the bandgap energies of either the constituent material. Furthermore, The PL peak position measured at the steady state exhibits a blue shift that increases with the excess carrier concentration. These results confirm a strong type-II band edge alignment between CdSe and CdTe. The valence band offset between unstrained CdSe and CdTe is determined as 0.63 eV±0.06 eV by fitting the measured PL peak positions using the Kronig-Penney model. The blue shift in PL peak position is found to be primarily caused by the band bending effect based on self-consistent solutions of the Schrödinger and Poisson equations. Secondly, the design of the contact grid layout is studied to maximize the power output and energy conversion efficiency for concentrator solar cells. Because the conventional minimum power loss method used for the contact design is not accurate in determining the series resistance loss, a method of using a distributed series resistance model to maximize the power output is proposed for the contact design. It is found that the junction recombination loss in addition to the series resistance loss and shadowing loss can significantly affect the contact layout. The optimal finger spacing and maximum efficiency calculated by the two methods are close, and the differences are dependent on the series resistance and saturation currents of solar cells. Lastly, the accurate measurements of external quantum efficiency (EQE) are important for the design and development of MJ solar cells. However, the electrical and optical couplings between the subcells have caused EQE measurement artifacts. In order to interpret the measurement artifacts, DC and small signal models are built for the bias condition and the scan of chopped monochromatic light in the EQE measurements. Characterization methods are developed for the device parameters used in the models. The EQE measurement artifacts are found to be caused by the shunt and luminescence coupling effects, and can be minimized using proper voltage and light biases. Novel measurement methods using a pulse voltage bias or a pulse light bias are invented to eliminate the EQE measurement artifacts. These measurement methods are nondestructive and easy to implement. The pulse voltage bias or pulse light bias is superimposed on the conventional DC voltage and light biases, in order to control the operating points of the subcells and counterbalance the effects of shunt and luminescence coupling. The methods are demonstrated for the first time to effectively eliminate the measurement artifacts.
ContributorsLi, Jingjing (Author) / Zhang, Yong-Hang (Thesis advisor) / Tao, Meng (Committee member) / Schroder, Dieter (Committee member) / Vasileska, Dragica (Committee member) / Arizona State University (Publisher)
Created2012
Description
To extend the lifetime of complementary metal-oxide-semiconductors (CMOS), emerging process techniques are being proposed to conquer the manufacturing difficulties. New structures and materials are proposed with superior electrical properties to traditional CMOS, such as strain technology and feedback field-effect transistor (FB-FET). To continue the design success and make an impact on leading products, advanced circuit design exploration must begin concurrently with early silicon development. Therefore, an accurate and scalable model is desired to correctly capture those effects and flexible to extend to alternative process choices. For example, strain technology has been successfully integrated into CMOS fabrication to improve transistor performance but the stress is non-uniformly distributed in the channel, leading to systematic performance variations. In this dissertation, a new layout-dependent stress model is proposed as a function of layout, temperature, and other device parameters. Furthermore, a method of layout decomposition is developed to partition the layout into a set of simple patterns for model extraction. These solutions significantly reduce the complexity in stress modeling and simulation. On the other hand, semiconductor devices with self-feedback mechanisms are emerging as promising alternatives to CMOS. Fe-FET was proposed to improve the switching by integrating a ferroelectric material as gate insulator in a MOSFET structure. Under particular circumstances, ferroelectric capacitance is effectively negative, due to the negative slope of its polarization-electrical field curve. This property makes the ferroelectric layer a voltage amplifier to boost surface potential, achieving fast transition. A new threshold voltage model for Fe-FET is developed, and is further revealed that the impact of random dopant fluctuation (RDF) can be suppressed. Furthermore, through silicon via (TSV), a key technology that enables the 3D integration of chips, is studied. TSV structure is usually a cylindrical metal-oxide-semiconductors (MOS) capacitor. A piecewise capacitance model is proposed for 3D interconnect simulation. Due to the mismatch in coefficients of thermal expansion (CTE) among materials, thermal stress is observed in TSV process and impacts neighboring devices. The stress impact is investigated to support the interaction between silicon process and IC design at the early stage.
ContributorsWang, Chi-Chao (Author) / Cao, Yu (Thesis advisor) / Chakrabarti, Chaitali (Committee member) / Clark, Lawrence (Committee member) / Schroder, Dieter (Committee member) / Arizona State University (Publisher)
Created2011
Description
Facial Expressions Recognition using the Convolution Neural Network has been actively researched upon in the last decade due to its high number of applications in the human-computer interaction domain. As Convolution Neural Networks have the exceptional ability to learn, they outperform the methods using handcrafted features. Though the state-of-the-art models achieve high accuracy on the lab-controlled images, they still struggle for the wild expressions. Wild expressions are captured in a real-world setting and have natural expressions. Wild databases have many challenges such as occlusion, variations in lighting conditions and head poses. In this work, I address these challenges and propose a new model containing a Hybrid Convolutional Neural Network with a Fusion Layer. The Fusion Layer utilizes a combination of the knowledge obtained from two different domains for enhanced feature extraction from the in-the-wild images. I tested my network on two publicly available in-the-wild datasets namely RAF-DB and AffectNet. Next, I tested my trained model on CK+ dataset for the cross-database evaluation study. I prove that my model achieves comparable results with state-of-the-art methods. I argue that it can perform well on such datasets because it learns the features from two different domains rather than a single domain. Last, I present a real-time facial expression recognition system as a part of this work where the images are captured in real-time using laptop camera and passed to the model for obtaining a facial expression label for it. It indicates that the proposed model has low processing time and can produce output almost instantly.
ContributorsChhabra, Sachin (Author) / Li, Baoxin (Thesis advisor) / Venkateswara, Hemanth (Committee member) / Srivastava, Siddharth (Committee member) / Arizona State University (Publisher)
Created2019
Description
Increased LV wall thickness is frequently encountered in transthoracicechocardiography (TTE). While accurate and early diagnosis is clinically important,
given the differences in available therapeutic options and prognosis, an extensive workup
is often required for establishing the diagnosis. I propose the first echo-based, automated
deep learning model with a fusion architecture to facilitate the evaluation and diagnosis
of increased left ventricular (LV) wall thickness. Patients with an established diagnosis
for increased LV wall thickness (hypertrophic cardiomyopathy (HCM), cardiac
amyloidosis (CA), and hypertensive heart disease (HTN)/others) between 1/2015 to
11/2019 at Mayo Clinic Arizona were identified. The cohort was divided into
80%/10%/10% for training, validation, and testing sets, respectively. Six baseline TTE
views were used to optimize a pre-trained InceptionResnetV2 model, each model output
was used to train a meta-learner under a fusion architecture. Model performance was
assessed by multiclass area under the receiver operating characteristic curve (AUROC).
A total of 586 patients were used for the final analysis (194 HCM, 201 CA, and 191
HTN/others). The mean age was 55.0 years, and 57.8% were male. Among the individual
view-dependent models, the apical 4 chamber model had the best performance (AUROC:
HCM: 0.94, CA: 0.73, and HTN/other: 0.87). The final fusion model outperformed all the
view-dependent models (AUROC: CA: 0.90, HCM: 0.93, and HTN/other: 0.92). I
successfully established an automatic end-to-end deep learning model framework that
accurately differentiates the major etiologies of increased LV wall thickness, including
HCM and CA from the background of HTN/other diagnoses.
ContributorsLi, James Shuyue (Author) / Patel, Bhavik (Thesis advisor) / Li, Baoxin (Thesis advisor) / Banerjee, Imon (Committee member) / Arizona State University (Publisher)
Created2022
Description
Millimeter-wave (mmWave) and sub-terahertz (sub-THz) systems aim to utilize the large bandwidth available at these frequencies. This has the potential to enable several future applications that require high data rates, such as autonomous vehicles and digital twins. These systems, however, have several challenges that need to be addressed to realize their gains in practice. First, they need to deploy large antenna arrays and use narrow beams to guarantee sufficient receive power. Adjusting the narrow beams of the large antenna arrays incurs massive beam training overhead. Second, the sensitivity to blockages is a key challenge for mmWave and THz networks. Since these networks mainly rely on line-of-sight (LOS) links, sudden link blockages highly threaten the reliability of the networks. Further, when the LOS link is blocked, the network typically needs to hand off the user to another LOS basestation, which may incur critical time latency, especially if a search over a large codebook of narrow beams is needed. A promising way to tackle both these challenges lies in leveraging additional side information such as visual, LiDAR, radar, and position data. These sensors provide rich information about the wireless environment, which can be utilized for fast beam and blockage prediction. This dissertation presents a machine-learning framework for sensing-aided beam and blockage prediction. In particular, for beam prediction, this work proposes to utilize visual and positional data to predict the optimal beam indices. For the first time, this work investigates the sensing-aided beam prediction task in a real-world vehicle-to-infrastructure and drone communication scenario. Similarly, for blockage prediction, this dissertation proposes a multi-modal wireless communication solution that utilizes bimodal machine learning to perform proactive blockage prediction and user hand-off. Evaluations on both real-world and synthetic datasets illustrate the promising performance of the proposed solutions and highlight their potential for next-generation communication and sensing systems.
ContributorsCharan, Gouranga (Author) / Alkhateeb, Ahmed (Thesis advisor) / Chakrabarti, Chaitali (Committee member) / Turaga, Pavan (Committee member) / Michelusi, Nicolò (Committee member) / Arizona State University (Publisher)
Created2024
Description
Computer vision technology automatically extracts high level, meaningful information from visual data such as images or videos, and the object recognition and detection algorithms are essential in most computer vision applications. In this dissertation, we focus on developing algorithms used for real life computer vision applications, presenting innovative algorithms for object segmentation and feature extraction for objects and actions recognition in video data, and sparse feature selection algorithms for medical image analysis, as well as automated feature extraction using convolutional neural network for blood cancer grading.
To detect and classify objects in video, the objects have to be separated from the background, and then the discriminant features are extracted from the region of interest before feeding to a classifier. Effective object segmentation and feature extraction are often application specific, and posing major challenges for object detection and classification tasks. In this dissertation, we address effective object flow based ROI generation algorithm for segmenting moving objects in video data, which can be applied in surveillance and self driving vehicle areas. Optical flow can also be used as features in human action recognition algorithm, and we present using optical flow feature in pre-trained convolutional neural network to improve performance of human action recognition algorithms. Both algorithms outperform the state-of-the-arts at their time.
Medical images and videos pose unique challenges for image understanding mainly due to the fact that the tissues and cells are often irregularly shaped, colored, and textured, and hand selecting most discriminant features is often difficult, thus an automated feature selection method is desired. Sparse learning is a technique to extract the most discriminant and representative features from raw visual data. However, sparse learning with \textit{L1} regularization only takes the sparsity in feature dimension into consideration; we improve the algorithm so it selects the type of features as well; less important or noisy feature types are entirely removed from the feature set. We demonstrate this algorithm to analyze the endoscopy images to detect unhealthy abnormalities in esophagus and stomach, such as ulcer and cancer. Besides sparsity constraint, other application specific constraints and prior knowledge may also need to be incorporated in the loss function in sparse learning to obtain the desired results. We demonstrate how to incorporate similar-inhibition constraint, gaze and attention prior in sparse dictionary selection for gastroscopic video summarization that enable intelligent key frame extraction from gastroscopic video data. With recent advancement in multi-layer neural networks, the automatic end-to-end feature learning becomes feasible. Convolutional neural network mimics the mammal visual cortex and can extract most discriminant features automatically from training samples. We present using convolutinal neural network with hierarchical classifier to grade the severity of Follicular Lymphoma, a type of blood cancer, and it reaches 91\% accuracy, on par with analysis by expert pathologists.
Developing real world computer vision applications is more than just developing core vision algorithms to extract and understand information from visual data; it is also subject to many practical requirements and constraints, such as hardware and computing infrastructure, cost, robustness to lighting changes and deformation, ease of use and deployment, etc.The general processing pipeline and system architecture for the computer vision based applications share many similar design principles and architecture. We developed common processing components and a generic framework for computer vision application, and a versatile scale adaptive template matching algorithm for object detection. We demonstrate the design principle and best practices by developing and deploying a complete computer vision application in real life, building a multi-channel water level monitoring system, where the techniques and design methodology can be generalized to other real life applications. The general software engineering principles, such as modularity, abstraction, robust to requirement change, generality, etc., are all demonstrated in this research.
To detect and classify objects in video, the objects have to be separated from the background, and then the discriminant features are extracted from the region of interest before feeding to a classifier. Effective object segmentation and feature extraction are often application specific, and posing major challenges for object detection and classification tasks. In this dissertation, we address effective object flow based ROI generation algorithm for segmenting moving objects in video data, which can be applied in surveillance and self driving vehicle areas. Optical flow can also be used as features in human action recognition algorithm, and we present using optical flow feature in pre-trained convolutional neural network to improve performance of human action recognition algorithms. Both algorithms outperform the state-of-the-arts at their time.
Medical images and videos pose unique challenges for image understanding mainly due to the fact that the tissues and cells are often irregularly shaped, colored, and textured, and hand selecting most discriminant features is often difficult, thus an automated feature selection method is desired. Sparse learning is a technique to extract the most discriminant and representative features from raw visual data. However, sparse learning with \textit{L1} regularization only takes the sparsity in feature dimension into consideration; we improve the algorithm so it selects the type of features as well; less important or noisy feature types are entirely removed from the feature set. We demonstrate this algorithm to analyze the endoscopy images to detect unhealthy abnormalities in esophagus and stomach, such as ulcer and cancer. Besides sparsity constraint, other application specific constraints and prior knowledge may also need to be incorporated in the loss function in sparse learning to obtain the desired results. We demonstrate how to incorporate similar-inhibition constraint, gaze and attention prior in sparse dictionary selection for gastroscopic video summarization that enable intelligent key frame extraction from gastroscopic video data. With recent advancement in multi-layer neural networks, the automatic end-to-end feature learning becomes feasible. Convolutional neural network mimics the mammal visual cortex and can extract most discriminant features automatically from training samples. We present using convolutinal neural network with hierarchical classifier to grade the severity of Follicular Lymphoma, a type of blood cancer, and it reaches 91\% accuracy, on par with analysis by expert pathologists.
Developing real world computer vision applications is more than just developing core vision algorithms to extract and understand information from visual data; it is also subject to many practical requirements and constraints, such as hardware and computing infrastructure, cost, robustness to lighting changes and deformation, ease of use and deployment, etc.The general processing pipeline and system architecture for the computer vision based applications share many similar design principles and architecture. We developed common processing components and a generic framework for computer vision application, and a versatile scale adaptive template matching algorithm for object detection. We demonstrate the design principle and best practices by developing and deploying a complete computer vision application in real life, building a multi-channel water level monitoring system, where the techniques and design methodology can be generalized to other real life applications. The general software engineering principles, such as modularity, abstraction, robust to requirement change, generality, etc., are all demonstrated in this research.
ContributorsCao, Jun (Author) / Li, Baoxin (Thesis advisor) / Liu, Huan (Committee member) / Zhang, Yu (Committee member) / Zhang, Junshan (Committee member) / Arizona State University (Publisher)
Created2018
Description
Mixture of experts is a machine learning ensemble approach that consists of individual models that are trained to be ``experts'' on subsets of the data, and a gating network that provides weights to output a combination of the expert predictions. Mixture of experts models do not currently see wide use due to difficulty in training diverse experts and high computational requirements. This work presents modifications of the mixture of experts formulation that use domain knowledge to improve training, and incorporate parameter sharing among experts to reduce computational requirements.
First, this work presents an application of mixture of experts models for quality robust visual recognition. First it is shown that human subjects outperform deep neural networks on classification of distorted images, and then propose a model, MixQualNet, that is more robust to distortions. The proposed model consists of ``experts'' that are trained on a particular type of image distortion. The final output of the model is a weighted sum of the expert models, where the weights are determined by a separate gating network. The proposed model also incorporates weight sharing to reduce the number of parameters, as well as increase performance.
Second, an application of mixture of experts to predict visual saliency is presented. A computational saliency model attempts to predict where humans will look in an image. In the proposed model, each expert network is trained to predict saliency for a set of closely related images. The final saliency map is computed as a weighted mixture of the expert networks' outputs, with weights determined by a separate gating network. The proposed model achieves better performance than several other visual saliency models and a baseline non-mixture model.
Finally, this work introduces a saliency model that is a weighted mixture of models trained for different levels of saliency. Levels of saliency include high saliency, which corresponds to regions where almost all subjects look, and low saliency, which corresponds to regions where some, but not all subjects look. The weighted mixture shows improved performance compared with baseline models because of the diversity of the individual model predictions.
First, this work presents an application of mixture of experts models for quality robust visual recognition. First it is shown that human subjects outperform deep neural networks on classification of distorted images, and then propose a model, MixQualNet, that is more robust to distortions. The proposed model consists of ``experts'' that are trained on a particular type of image distortion. The final output of the model is a weighted sum of the expert models, where the weights are determined by a separate gating network. The proposed model also incorporates weight sharing to reduce the number of parameters, as well as increase performance.
Second, an application of mixture of experts to predict visual saliency is presented. A computational saliency model attempts to predict where humans will look in an image. In the proposed model, each expert network is trained to predict saliency for a set of closely related images. The final saliency map is computed as a weighted mixture of the expert networks' outputs, with weights determined by a separate gating network. The proposed model achieves better performance than several other visual saliency models and a baseline non-mixture model.
Finally, this work introduces a saliency model that is a weighted mixture of models trained for different levels of saliency. Levels of saliency include high saliency, which corresponds to regions where almost all subjects look, and low saliency, which corresponds to regions where some, but not all subjects look. The weighted mixture shows improved performance compared with baseline models because of the diversity of the individual model predictions.
ContributorsDodge, Samuel Fuller (Author) / Karam, Lina (Thesis advisor) / Jayasuriya, Suren (Committee member) / Li, Baoxin (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2018
Description
Deep neural networks (DNN) have shown tremendous success in various cognitive tasks, such as image classification, speech recognition, etc. However, their usage on resource-constrained edge devices has been limited due to high computation and large memory requirement.
To overcome these challenges, recent works have extensively investigated model compression techniques such as element-wise sparsity, structured sparsity and quantization. While most of these works have applied these compression techniques in isolation, there have been very few studies on application of quantization and structured sparsity together on a DNN model.
This thesis co-optimizes structured sparsity and quantization constraints on DNN models during training. Specifically, it obtains optimal setting of 2-bit weight and 2-bit activation coupled with 4X structured compression by performing combined exploration of quantization and structured compression settings. The optimal DNN model achieves 50X weight memory reduction compared to floating-point uncompressed DNN. This memory saving is significant since applying only structured sparsity constraints achieves 2X memory savings and only quantization constraints achieves 16X memory savings. The algorithm has been validated on both high and low capacity DNNs and on wide-sparse and deep-sparse DNN models. Experiments demonstrated that deep-sparse DNN outperforms shallow-dense DNN with varying level of memory savings depending on DNN precision and sparsity levels. This work further proposed a Pareto-optimal approach to systematically extract optimal DNN models from a huge set of sparse and dense DNN models. The resulting 11 optimal designs were further evaluated by considering overall DNN memory which includes activation memory and weight memory. It was found that there is only a small change in the memory footprint of the optimal designs corresponding to the low sparsity DNNs. However, activation memory cannot be ignored for high sparsity DNNs.
To overcome these challenges, recent works have extensively investigated model compression techniques such as element-wise sparsity, structured sparsity and quantization. While most of these works have applied these compression techniques in isolation, there have been very few studies on application of quantization and structured sparsity together on a DNN model.
This thesis co-optimizes structured sparsity and quantization constraints on DNN models during training. Specifically, it obtains optimal setting of 2-bit weight and 2-bit activation coupled with 4X structured compression by performing combined exploration of quantization and structured compression settings. The optimal DNN model achieves 50X weight memory reduction compared to floating-point uncompressed DNN. This memory saving is significant since applying only structured sparsity constraints achieves 2X memory savings and only quantization constraints achieves 16X memory savings. The algorithm has been validated on both high and low capacity DNNs and on wide-sparse and deep-sparse DNN models. Experiments demonstrated that deep-sparse DNN outperforms shallow-dense DNN with varying level of memory savings depending on DNN precision and sparsity levels. This work further proposed a Pareto-optimal approach to systematically extract optimal DNN models from a huge set of sparse and dense DNN models. The resulting 11 optimal designs were further evaluated by considering overall DNN memory which includes activation memory and weight memory. It was found that there is only a small change in the memory footprint of the optimal designs corresponding to the low sparsity DNNs. However, activation memory cannot be ignored for high sparsity DNNs.
ContributorsSrivastava, Gaurav (Author) / Seo, Jae-Sun (Thesis advisor) / Chakrabarti, Chaitali (Committee member) / Berisha, Visar (Committee member) / Arizona State University (Publisher)
Created2018
Description
In this thesis, a new approach to learning-based planning is presented where critical regions of an environment with low probability measure are learned from a given set of motion plans. Critical regions are learned using convolutional neural networks (CNN) to improve sampling processes for motion planning (MP).
In addition to an identification network, a new sampling-based motion planner, Learn and Link, is introduced. This planner leverages critical regions to overcome the limitations of uniform sampling while still maintaining guarantees of correctness inherent to sampling-based algorithms. Learn and Link is evaluated against planners from the Open Motion Planning Library (OMPL) on an extensive suite of challenging navigation planning problems. This work shows that critical areas of an environment are learnable, and can be used by Learn and Link to solve MP problems with far less planning time than existing sampling-based planners.
In addition to an identification network, a new sampling-based motion planner, Learn and Link, is introduced. This planner leverages critical regions to overcome the limitations of uniform sampling while still maintaining guarantees of correctness inherent to sampling-based algorithms. Learn and Link is evaluated against planners from the Open Motion Planning Library (OMPL) on an extensive suite of challenging navigation planning problems. This work shows that critical areas of an environment are learnable, and can be used by Learn and Link to solve MP problems with far less planning time than existing sampling-based planners.
ContributorsMolina, Daniel, M.S (Author) / Srivastava, Siddharth (Thesis advisor) / Li, Baoxin (Committee member) / Zhang, Yu (Committee member) / Arizona State University (Publisher)
Created2019