时间：2019-05-12 08:45
地点：西南交通大学九里校区国际会议厅
报告人：Geir Dullerud博士
讲座内容简介：A major engineering challenge of our era is the systematic design of autonomous mobile systems. A significant engineering attribute of such systems is that although it is possible to realize them physically and digitally, predicting their behavior with high confidence remains elusive, and systematic techniques for their construction which guarantee specified behavior are still being sought. The reasons for this are many-fold, involving for instance information decentralization, finite capacity communication, model complexity, uncertainty, and heterogeneity. This presentation will focus on our research aimed at creating systematic control design techniques in this setting. In the first part, we will focus on foundational research for addressing autonomous systems design, and will initially focus on a class of hybrid system models called switched systems. These models are closely related to Markovian jump linear systems, and contain both discrete and continuous states, where discrete states evolve according to automata, or more general transition systems, and continuous states evolve according to linear dynamics influenced by the discrete states. We will discuss how such systems can be automatically analyzed using ideas from control theory and semidefinite programming, and will provide solutions to several synthesis problems in this framework, including for instance the long-studied moving-horizon problem, and the decentralized control problem for systems with nested structure. We will also present results on a particular class of team games in which agents have incomplete model knowledge individually, but jointly know the global system dynamics. In the second component of this presentation we will emphasize experimentation with autonomous vehicles, both airborne and ground-based. We will introduce our autonomous vehicles testbed, the HoTDeC, together with the new development framework CyPhyHouse for distributed mobile autonomy. They consist of multiple model-sized drones, hovercraft and cars, and the CyPhyHouse framework comes with a programming language, a compiler, a simulator, and a verification tool. Users can develop applications on the high-level, event driven computer language without concern for low- level protocols. This application program can be simulated on dozens of autonomous agents using the simulator; the same code can be compiled and deployed on heterogeneous mobile platforms, and the application code can also be verified via systematic verification tools. Also discussed in this context will be novel localization technology in HoTDeC.
主讲人简介：Dr. Geir E. Dullerud is the W. Grafton and Lillian B. Wilkins Professor in Mechanical Engineering at the University of Illinois at Urbana-Champaign. He is the Director of the new Illinois Center for Autonomy. He is also a member of the Coordinated Science Laboratory, where he is Director of the Decision and Control Laboratory (21 faculty); he is an Affiliate Professor of both Computer Science, and Electrical and Computer Engineering. He has held visiting positions in Electrical Engineering KTH, Stockholm (2013), and Aeronautics and Astronautics, Stanford University (2005-2006). Earlier he was on faculty in Applied Mathematics at the University of Waterloo (1996-1998), after being a Research Fellow at the California Institute of Technology (1994-1995), in the Control and Dynamical Systems Department. He holds a PhD in Engineering from Cambridge University. He has published two books: "A Course in Robust Control Theory", Texts in Applied Mathematics, Springer, 2000, and "Control of Uncertain Sampled-data Systems", Birkhauser 1996. His areas of current research interest include autonomy and cooperative robotics, convex optimization in control, cyber-physical system security, stochastic simulation, and hybrid dynamical systems. In 1999 he received the CAREER Award from the National Science Foundation, and in 2005 the Xerox Faculty Research Award at UIUC. He is a Fellow of both IEEE (2008) and ASME (2011). He is the General Chair of the upcoming IFAC workshop Distributed Estimation and Control in Networked Systems (NECSYS) to be held in Chicago in 2019.
主办：研究生院
承办：机械工程学院
