Einladung zum Vortrag im Kolloquium Technische Kybernetik
Vision-based Motion Coordination: A Passivity Approach
Prof. Masayuki Fujita
Department of Mechanical and Control Engineering
Tokyo Institute of Technology
Zeit: Montag · 2. 10. 2006 · 14:00 Uhr
Ort: IST-Seminarraum 3.241 · Pfaffenwaldring 9 · Campus Stuttgart-Vaihingen
Motion Coordination in multi-agent systems has many practical applications, such as sensor networks, traffic control and robotic network. Many of the
recent works in that field consider communication between the agents, e.g. via wireless networks or the Internet. In this talk as an alternative
method, we present a new cooperative control using a camera as sensor instead of communication in order to get information about the other agents.
Because only 2D information can directly be measured using camera, we construct a nonlinear observer to estimate position and orientation of the other
agents in 3D configuration space. We show passivity of the nonlinear observer which allows us to prove stability in the sense of Lyapunov. We propose
a vision-based motion coordination by connecting the cooperative control and nonlinear observer. In this control, the passivity of the agent
including the nonlinear observer is necessary.
Masayuki Fujita received the B.E., M.E. and Dr. of Engineering degrees in Electrical Engineering from Waseda University, Tokyo, in 1982, 1984, and
1987, respectively. From 1985 until 1992, he was with the Department of Electrical and Computer Engineering, Kanazawa University, Japan. He was on
the faculty of Japan Advanced Institute of Science and Technology as an Associate Professor from 1992 to 1998 and Kanazawa University as a
Professor in 1999. Since 2005, he has been a Professor of the Department of Mechanical and Control Engineering, Tokyo Institute of Technology. From
1994 to 1995, he held a visiting position in the Department of Automatic Control Engineering, Technical University of Munich, Germany. His
research interests include robust control and its applications, and passivity-based visual feedback. Dr. Fujita is currently an Associate Editor
of the it IEEE Transactions on Automatic Control, Automatica and Asian Journal of Control.