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Home Page for Kensen Shi | Parasol Laboratory


Picture Kensen Shi
High School Student
Algorithms & Applications Group

Parasol Laboratory url: http://parasol.tamu.edu/~kensenshi/
Department of Computer Science and Engineering email:
Texas A&M University office: 407 HRBB
College Station, TX 77843-3112 tel:
USA fax: (979) 458-0718


I conducted research at the Parasol Laboratory between the summers of 2012 and 2013 as a high school senior at A&M Consolidated High School. I am starting undergraduate studies at Stanford in September of 2013. My faculty mentor is Professor Nancy Amato and my graduate student mentor is Jory Denny.

I competed in the 2012 Siemens Competition in Math, Science, and Technology with my work on Lazy Toggle PRM. I was very happy with the results of the competition. See a video of my research presentation at the National Competition. I was also invited to ring the NY Stock Exchange Closing Bell as a part of the Siemens Competition.



Research Projects



Motion Planning

Toggle PRM

Toggle PRM is a novel planning paradigm which incorporates mapping both C-free and C-obst in a coordinated fashion. During planning, when any connection attempt between two nodes of one space fails (i.e., the simple path crosses the opposite space), we retain a witness to the failure, and add it to the opposite space's roadmap, e.g., When a connection between two free nodes in the roadmap fails a witness to the failure is saved in the obstacle map. Toggle PRM is provably more efficient than uniform random sampling and experimentally is more efficient then other contemporary samplers.
My Publications


Publications



Motion Planning

Toggle PRM

Lazy Toggle PRM: A Single-Query Approach to Motion Planning, Jory Denny, Kensen Shi, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 2407 - 2414, Karlsruhe, Germany, May 2013.
Proceedings(ps, pdf, abstract)