Seth A. Hutchinson

Description

Address

  • 2017 Beckman Institute
  • 405 North Mathews Avenue
  • Urbana, Illinois 61801

Biography

Seth Hutchinson received his Ph.D. from Purdue University in 1988. He is an associate professor in the Department of Electrical and Computer Engineering at the U of I and a full-time Beckman Institute faculty member in the Artificial Intelligence group. His fields of professional interest are robotics, and computer vision, and artificial intelligence.

Honors

Arnold O. Beckman Research Award, U of I (1994); NSF Research Initiation Award (1991)

Research

Seth Hutchinson's research in the Beckman Institute deals with intelligent sensor-based robotics.

In order for robots to function in an intelligent manner in unknown or uncertain environments, those robots must be able to process sensory data and then synthesize plans (based on their perception of the environment) to achieve their goals. Thus, this work includes a number of research topics, including computer vision, robotic motion and task planning, and plan execution/error recovery. Hutchinson is involved in several ongoing projects in these areas.

Hutchinson has an active research program in visual servo control (the problem of incorporating vision feedback directly into a robot's control system). He has worked on the problems of planning vision-based motion trajectories, feature tracking and, in a collaboration with Rafael Kelly at CICESE in Ensenada, Mexico, on incorporating often neglected aspects of robot dynamics into the analysis and design of visual servo controllers.

Hutchinson is also participating in an interdisciplinary project investigating computational methods for learning sensorimotor control in bipedal locomotion. The team comprises researchers from the departments of Electrical and Computer Engineering, General Engineering, Computer Science, and Kinesiology. The project integrates ideas from engineering, psychology, and kinesiology in an effort to utilize techniques from control theory and artificial intelligence to improve the understanding of the dynamics and control of human movement, and the mechanisms by which humans learn sensorimotor control.

Hutchinson's major source of research support is the NSF.

Publications

  • 2016
    • Becerra, I.; Murrieta-Cid, R.; Monroy, R.; Hutchinson, S.; Laumond, J. P., Maintaining Strong Mutual Visibility of an Evader Moving over the Reduced Visibility Graph. Autonomous Robots 2016, 40, (2), 395-423, DOI:10.1007/s10514-015-9477-5.
    • Panahandeh, G.; Hutchinson, S.; Handel, P.; Jansson, M., Planar-Based Visual Inertial Navigation: Observability Analysis and Motion Estimation. Journal of Intelligent & Robotic Systems 2016, 82, (2), 277-299, DOI:10.1007/s10846-015-0257-4.
  • 2015
    • Paranjape, A. A.; Meier, K. C.; Shi, X. C.; Chung, S. J.; Hutchinson, S., Motion Primitives and 3D Path Planning for Fast Flight through a Forest. International Journal of Robotics Research 2015, 34, (3), 357-377, DOI:10.1177/0278364914558017.

    •  Dani, A. P.; Chung, S. J.; Hutchinson, S., Observer Design for Stochastic Nonlinear Systems via Contraction-Based Incremental Stability. IEEE Transactions on Automatic Control 2015, 60, (3), 700-714, DOI:0.1109/Tac.2014.2357671.

    • Lanari, L.; Hutchinson, S., Inversion-Based Gait Generation for Humanoid Robots. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015 1592-1598.
    • Park, H.; Hutchinson, S., A Distributed Robust Convergence Algorithm for Multi-Robot Systems in the Presence of Faulty Robots. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015 2980-2985.
    • Ramezani, A.; Shi, X. C.; Chung, S. J.; Hutchinson, S., Lagrangian Modeling and Flight Control of Articulated-Winged Bat Robot. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015 2867-2874.
    • Yang, J.; Chung, S. J.; Hutchinson, S.; Johnson, D.; Kise, M., Omnidirectional-Vision-Based Estimation for Containment Detection of a Robotic Mower. 2015 IEEE International Conference on Robotics and Automation (ICRA) 2015 6344-6351.
  • 2014
    • Park, H.; Hutchinson, S., A Distributed Optimal Strategy for Rendezvous of Multi-Robots with Random Node Failures. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) 2014 1155-1160.

  • 2013
    • Dani, A.; Panahandeh, G.; Chung, S. J.; Hutchinson, S., Image Moments for Higher-Level Feature Based Navigation, In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Amato, N., Ed.; IEEE, New York, 2013, 602-609.

    • Paranjape, A. A.; Meier, K. C.; Shi, X. C.; Chung, S. J.; Hutchinson, S., Motion Primitives and 3-D Path Planning for Fast Flight through a Forest, In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Amato, N., Ed.; IEEE, New York, 2013, 2940-2947.

    • Yang, J. H.; Chung, S. J.; Hutchinson, S.; Johnson, D.; Kise, M., Vision-Based Localization and Mapping for an Autonomous Mower, In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Amato, N., Ed.; IEEE, New York, 2013, 3655-3662.

  • 2011
    • Bhattacharya, S.; Hutchinson, S., A Cell Decomposition Approach to Visibility-Based Pursuit Evasion among Obstacles. International Journal of Robotics Research 2011, 30, (14), 1709-1727.

    • Espinoza, J.; Sarmiento, A.; Murrieta-Cid, R.; Hutchinson, S., Motion Planning Strategy for Finding an Object with a Mobile Manipulator in Three-Dimensional Environments. Advanced Robotics 2011, 25, (13-14), 1627-1650.

    • Murrieta-Cid, R.; Ruiz, U.; Marroquin, J. L.; Laumond, J. P.; Hutchinson, S., Tracking an Omnidirectional Evader with a Differential Drive Robot. Autonomous Robots 2011, 31, (4), 345-366.

  • 2010
    • Hutchinson, S., Surviving the Review Process. IEEE Robotics & Automation Magazine 2010, 17, (4), 101-104.

    • Lopez-Nicolas, G.; Gans, N. R.; Bhattacharya, S.; Sagues, C.; Guerrero, J. J.; Hutchinson, S., Homography-Based Control Scheme for Mobile Robots With Nonholonomic and Field-of-View Constraints. IEEE Transactions on Systems Man and Cybernetics Part B-Cybernetics 2010, 40, (4), 1115-1127.

  • 2009
    • Sarmiento, A.; Murrieta-Cid, R.; Hutchinson, S., An Efficient Motion Strategy to Compute Expected-Time Locally Optimal Continuous Search Paths in Known Environments. Advanced Robotics 2009, 23, (12-13), 1533-1560.

  • 2008
    • Gans, N.; Hutchinson, S., Multi-Attribute Utility Analysis in the Choice of a Vision-Based Robot Controller. The International Journal of Optomechatronics 2008, 2, (3), 326-360.

    • Hutchinson, S., Untitled. IEEE Transactions on Robotics 2008, 24, (6), 1261-1261.

  • 2007
    • Bhattacharya, S.; Murrieta-Cid, R.; Hutchinson, S., Optimal paths for landmark-based navigation by differential-drive vehicles with field-of-view constraints. IEEE Transactions on Robotics 2007, 23, (1), 47-59.

    • Chaumette, F.; Hutchinson, S., Visual servo control - Part II: Advanced approaches. IEEE Robotics & Automation Magazine 2007, 14, (1), 109-118.

    • Murrieta-Cid, R.; Muppirala, T.; Sarmiento, A.; Bhattacharya, S.; Hutchinson, S., Surveillance strategies for a pursuer with finite sensor range. International Journal of Robotics Research 2007, 26, (3), 233-253.

    • Gans, N. R.; Hutchinson, S. A., Stable visual servoing through hybrid switched-system control. IEEE Transactions on Robotics 2007, 23, (3), 530-540.

    • Hager, G.; Hebert, M.; Hutchinson, S., Special issue on Vision and Robotics, Parts I and II. International Journal of Computer Vision 2007, 74, (3), 217-218.

  • 2006
    • Kloder, S.; Hutchinson, S., Path planning for permutation-invariant multirobot formations. IEEE Transactions on Robotics 2006, 22, (4), 650-665.

  • 1999
    • Rifai, H., Bloch, I., Hutchinson, S. A., Wiart, J., and Garnero, L. (1999), "Segmentation of the Skull in MRI Volumes Using Deformable Models and Taking the Partial Volume Effect into Account," Proceedings of SPIE Medical Imaging Symposium, San Diego, pp. 288-299.

    • Shaw, M. J., Ahuja, N., and Hutchinson, S. A. (1999), "Coordination, Collaboration, and Control of Multirobot Systems," in S. Y. Nof, ed., Handbook of Industrial Robotics (John Wiley and Sons Ltd.), pp. 423-438.

  • 1998
    • LaValle, S. and Hutchinson, S. A. (1998), "An Objective-based Framework for Motion Planning Under Sensing and Control Uncertainties," International Journal of Robotics Research, 17/1, pp. 19-42.

    • Nickels, K. and Hutchinson, S. A. (1998), "Weighting Observations: The Use of Kinematic Models in Object Tracking," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1677-1682.

  • 1997
    • LaValle, S., Moroney, K., and Hutchinson, S. A. (1997), "Methods for Numerical Integration of High-dimensional Posterior Densities with Application to Statistical Image Models," IEEE Transactions on Image Processing, 6/12, pp. 1659-1672.

    • Sharma, R. and Hutchinson, S. (1997), "Motion Perceptibility and Its Application to Active Vision-based Servo Control," IEEE Transactions on Robotics and Automation, 13/4, pp. 607-617.

Press

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