(Hybrid Seminar) Please indicate if you are attending phyiscally or virtually when you are registering. Abstract The majority of the earth’s surface is covered by the open ocean. However, harbors and marine structures produce areas that constrain the possible paths that can be traversed by a maritime vehicle. For a vehicle to perform an efficient set of actions in such an environment, a plan must be assembled that respects these fundamental spatial constraints. The complexity of the planning task can be further increased if the environment is partially observed, requiring the fusion of online sensor data into the planning domain. This talk will discuss an approach for planning tasks in spatially constrained environments based on the Delaunay Triangulation. This model allows the construction of a planning domain based on the fundamental group – the set of homotopy classes as constrained by the environment. Initially developed for the Maritime RobotX competition, this system allows the generation of plans fusing offline spatial data with online sensor observations, and respecting spatial constraints. While the complexity of adding an action to the plan is higher than a system based on a grid metric, the planning complexity in this domain scales with the number of obstacles rather than the size of the spatial environment. The small size of the planning domain thus allows the generation of plans to scale beyond what would be possible in a grid-based domain. An overview of the potential applications along with some of Flinders University’s recent work in Autonomous Maritime Vehicles will also be covered. Note The seminar is hybrid. Physical room location will be provided after registration prior to seminar day. Light drinks and snacks will be provided after the seminar for networking opportunities. The seminar will also be broadcast using Zoom. If you are unable to attend physically and wish to participate please register and you will receive an email with the details in the lead up to the event. Further information Please contact: [email protected] [email protected] Speaker(s): Jonathan Wheare, Bldg: Engineering and Maths Building, The University of Adelaide, North Terrace Campus, ADELAIDE, South Australia, Australia, 5005, Virtual: https://events.vtools.ieee.org/m/314481