Einladung zum Vortrag im Kolloquium
Modular Machines - reconfigurable mobile robots for research and education
Univ.-Prof. Dipl.-Ing. Dr. Michael Hofbauer
Institut für Automatisierungs- und Regelungstechnik
Private Universität UMIT
Hall in Tirol, Österreich
Zeit: Dienstag, 19.01.2010 · 16:00 Uhr
Ort: IST-Seminarraum 3.243 · Pfaffenwaldring 9 · Campus Stuttgart-Vaihingen
The diverse applications of modern mobile robots lead to a wide variety of drive-geometries and drive-functionalities. To support this diversity for robotics research and education we propose a modular platform to quickly configure/reconfigure various robot drives and build reconfigurable multi-robot systems. To control such an adaptable robot drive we developed a novel model-programmed procedure for on-line kinematics reasoning. Being adaptable with respect to a drive's geometry
is, however, only one advantage of our approach. Our kinematics reasoning and control scheme also captures the mobility-implications of operational modes and faults in the drive (e.g. a blocked steering actuator). As a consequence, we directly obtain a fault-tolerant control scheme that can
reconfigure a robot drive to compensate for faults and also inform a higher-level control system (e.g. path- and task-planner) about changed mobility capabilities of a robot.
Univ.-Prof. Dr. Michael Hofbaur is head of the new Institute of Automation
and Control Engineering at the private University UMIT in Hall in Tyrol,
Austria. He received his Ph.D. from the Faculty of Electrical
Engineering at Graz University of Technology in 1999. From 2000 to
2001 he was appointed as visiting Assistant Professor at the
MIT Artificial Intelligence and the MIT Space Systems Lab in Cambridge,
USA. In 2004, Dr. Hofbaur received the venia docendi at Graz for the
scientific field "Automation of Complex Systems" and was appointed as
Associate Professor (Ao.Univ.-Prof) at the Institute for Automation and
Control / Graz University of Technology until 09-2009.
Prof. Hofbaur's research interests include model-based methods for estimation,
diagnosis and control of complex hybrid systems, with applications in
mechatronic systems,in particular, autonomous mobile and immobile robots.