The 43rd Special Seminar of School of Engineering

"Analytic center selection of optimization-based controllers for robot ecology"
Abstract:
During their young life, robots, with the invaluable help of humans, have made the planet Earth arguably worse from an ecological perspective. Robot ecology, far from simply concerning itself with the employment of robotic systems in ecological studies, focuses on the development of robots and algorithms to optimize the relationships of autonomous machines with living organisms and their physical environment. To this end, constraint-driven control, owing to its opportunistic nature, demonstrated to be the right paradigm for decision making of robots deployed over long time horizons in unknown and evolving environments.
Yet, the optimization-based nature of such controllers makes their analysis more difficult than their synthesis. In this talk, a novel approach for the analysis and synthesis of optimization-based controllers based on analytic center selection of differential inclusions is presented. Discussed applications will include long-term environmental monitoring and resilient control of multi-robot systems.

"Robust Locomotion For Legged Robots"
Abstract:
This talk will present recent research work of the locomotion control and planning on legged robots at Control for Robotics and Autonomy Lab (Coralab) at Huazhong University of Science and Technology, China. We first consider the locomotion control in the presence of system uncertainties and address the problem using robust optimization-based control with a customized solver. Then, we discuss the robust and safe planning for robots under the perception uncertainties and propose a trajectory optimization method incorporating the distributionally robust optimization idea.

Thursday, May 16, 2024, 1:40 p.m. - 3:00 p.m.

S5-207, South Bldg. 5, Ookayama Campus

Free

English

School of Engineering

• 1:40 p.m. - 2:20 p.m.

  "Analytic center selection of optimization-based controllers for robot ecology"
  Prof. Gennaro Notomista, University of Waterloo

• 2:20 p.m. - 3:00 p.m.

  "Robust Locomotion For Legged Robots"
  Prof. Lijun ZHU, Huazhong University of Science and Technology

Not required