BEGIN:VCALENDAR VERSION:2.0 PRODID:-//128.220.36.25//NONSGML kigkonsult.se iCalcreator 2.26.9// CALSCALE:GREGORIAN METHOD:PUBLISH X-WR-CALNAME:Laboratory for Computational Sensing + Robotics X-WR-CALDESC: X-FROM-URL:https://lcsr.jhu.edu X-WR-TIMEZONE:America/New_York BEGIN:VTIMEZONE TZID:America/New_York X-LIC-LOCATION:America/New_York BEGIN:STANDARD DTSTART:20231105T020000 TZOFFSETFROM:-0400 TZOFFSETTO:-0500 RDATE:20241103T020000 TZNAME:EST END:STANDARD BEGIN:DAYLIGHT DTSTART:20240310T020000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 RDATE:20250309T020000 TZNAME:EDT END:DAYLIGHT END:VTIMEZONE BEGIN:VEVENT UID:ai1ec-11871@lcsr.jhu.edu DTSTAMP:20240329T105158Z CATEGORIES: CONTACT:Ashley Moriarty\; amoriar2@jhu.edu DESCRIPTION:
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Abstract:
Autonomous systems offer the promise of p roviding greater safety and access. However\, this positive impact will on ly be achieved if the underlying algorithms that control such systems can be certified to behave robustly. This talk will describe a pair of techniq ues grounded in infinite dimensional optimization to address this challeng e.
\nThe first technique\, which is called Reachability-based Trajec tory Design\, constructs a parameterized representation of the forward rea chable set\, which it then uses in concert with predictions to enable real -time\, certified\, collision checking. This approach\, which is guarantee d to generate not-at-fault behavior\, is demonstrated across a variety of different real-world platforms including ground vehicles\, manipulators\, and walking robots. The second technique is a modeling method that allows one to represent a nonlinear system as a linear system in the infinite-dim ensional space of real-valued functions. By applying this modeling method\ , one can employ well-understood linear model predictive control technique s to robustly control nonlinear systems. The utility of this approach is v erified on a soft robot control task.
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Biography:
\nRam Vasudevan is an assistant professor in Mechanical En gineering and the Robotics Institute at the University of Michigan. He rec eived a BS in Electrical Engineering and Computer Sciences\, an MS degree in Electrical Engineering\, and a PhD in Electrical Engineering all from t he University of California\, Berkeley. He is a recipient of the NSF CAREE R Award and the ONR Young Investigator Award. His work has received best p aper awards at the IEEE Conference on Robotics and Automation\, the ASME D ynamics Systems and Controls Conference\, and IEEE OCEANS Conference and h as been finalist for best paper at Robotics: Science and Systems.
\nDTSTART;TZID=America/New_York:20210428T120000 DTEND;TZID=America/New_York:20210428T130000 LOCATION:https://wse.zoom.us/s/94623801186 SEQUENCE:0 SUMMARY:LCSR Seminar: Ram Vasudevan “How I Learned to Stop Worrying and Sta rt Loving Lifting to Infinite Dimensions” URL:https://lcsr.jhu.edu/events/ram-vasudevan/ X-COST-TYPE:free END:VEVENT END:VCALENDAR