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SUMMARY:Vortrag von Prof. M.-A. Belabbas
DESCRIPTION:Prof. M.-A. Belabbas\nAssociate Professor\nElectrical and Computer Engineering\nCoordinated Science Laboratory\nUniversity of Illinois, Urbana-Champaign  \n  \nTuesday 2020-02-11 16:00\nIST-Seminar-Room V9.2.255 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen\nAbstract\nThe motion planning problem is one of the oldest and most studied problems in control theory. It\nconsists of determining control signals that drive a system from its initial state to a desired\nfinal state. The difficulty of the problem lies in the fact that the dynamics can be arbitrary\nnonlinear, and the trajectory of the system may be subject to additional holonomic, non-holonomic\nor obstacle constraints. We present in this talk a new point of view on motion planning and, as a\nresult, provide a new method to solve this important problem. The method proceeds by deforming an\narbitrary path joining the initial state of the system to a desired final state into an admissible\npath, that is a path that meets the various constraints of the problem. The method builds on\nrelatively recent developments in geometric analysis. In a nutshell, it consists of encoding the\nvarious constraints of the problem in an appropriately-defined inner product which is then used to\nderive a parabolic partial differential equation whose solution provides the sought homotopy\nbetween an arbitrary path and a feasible trajectory for the system to follow. We will present the\nmethod in details and apply it to various motion planning examples, including wheeled vehicles\ncontrol and robot gymnastics.  \nBiographical Information\nM.-A. Belabbas obtained his PhD degree in applied mathematics from Harvard University and his\nundergraduate degree from Ecole Centrale Paris, France, and Universite Catholique de Louvain,\nBelgium. He is currently an associate professor in the Electrical and Computer Engineering\ndepartment at the University of Illinois, Urbana-Champaign and at the Coordinated Science\nLaboratory. His research interests are in geometric control theory, stochastic control and\nlearning.  
DTSTART;TZID=Europe/Berlin;VALUE=DATE:20200211
URL;VALUE=URI:https://www.ist.uni-stuttgart.de/de/veranstaltungen/Vortrag-von-Prof.-M.-A.-Belabbas/
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