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Spring 2023 GRASP on Robotics: Frank Dellaert, Georgia Tech, “Factor Graphs for Perception and Action”

January 27, 2023 at 10:30 AM - 11:45 AM

This is a hybrid event with in-person attendance in Wu and Chen and virtual attendance via Zoom. This week’s presenter will be virtual.


Factor graphs have been very successful in providing a lingua franca in which to phrase robotics perception and navigation problems. In this talk I will re-visit some of those successes, also discussed in depth in a recent review article. However, I will focus on our more recent work in the talk, centered on using factor graphs for *action*. I will discuss our efforts in motion planning, trajectory optimization, optimal control, and model-predictive control, highlighting SCATE, our recent work on collision avoidance for autonomous spacecraft.

Frank Dellaert

Georgia Institute of Technology

Frank Dellaert is a Professor at Georgia Tech’s School of Interactive Computing, and CTO at Verdant Robotics. He has previously done stints at Skydio, a drone startup, Facebook Reality Labs, and most recently Google AI. His work is on sensor fusion and the use of large-scale graphical models for robotics sensing, thinking, and acting. With his students and collaborators, he created the popular sensor fusion/SLAM library GTSAM, see gtsam.org. SCATE was joint work with Matthew King-Smith and Panagiotis Tsiotras in the School of Aerospace Engineering, where Prof. Dellaert is also adjunct faculty.


January 27, 2023
10:30 AM - 11:45 AM
Event Category:


General Robotics, Automation, Sensing and Perception (GRASP) Lab
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Wu and Chen Auditorium (Room 101), Levine Hall
3330 Walnut Street
Philadelphia, PA 19104 United States
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