MIE Seminar Presentation: Title: Information-Driven Control of Networked Robotic Systems by Dr. Reza Olfati-Saber
Dr. Reza Olfati-Saber, Sr. Research Scientist III,
Informatics & Autonomy, AbbVie, North Chicago, IL
Host: Dr. Nader Jalili
Date: Friday, April 25, 2014
Location: 348 CSC
Time: 10:30am -12:00pm
Abstract: Networked Robotic Systems (Swarms) comprised of cooperative networks of robotic agents with embedded sensing, control, communication, and computing devices interacting with human operators have broad applications in security and surveillance systems, energy infrastructures, and transportation systems. One of the main problems for robotic agents with embedded sensors is to track the state of targets/events of interest in an environment. In this talk, we show that tracking multiple targets using robotic agents is fundamentally a coupled distributed estimation and control problem called “information-driven control (IDC)”. A theoretical framework for formal stability analysis and design of information-driven control algorithms for robotic swarms is provided. Our proposed solution combines novel Distributed Kalman Filtering and multi-objective flocking algorithms of the speaker with metrics from Information Theory that enable characterization of quality of sensed information by the robotic swarm in an uncertain environment. Simulation results of the IDC algorithms with application to tracking high-valued targets and distributed deployment of autonomous vehicles with embedded sensors for cooperative surveillance of large regions will be provided. Directions of future research and applications of multi-objective flocking algorithms in design of self-driving vehicular networks will be discussed.
Short Bio: Dr. Olfati-Saber received his PhD and SM degrees from MIT in 2001 and 1997, respectively. He is currently a Sr. Research Scientist III, Bioinformatics at AbbVie. He was a postdoctoral scholar at the Control and Dynamical Systems Department at Caltech (2001-04) and a visiting scientist at the Mechanical and Aerospace Department at UCLA (2004-05) prior to his tenure at Dartmouth College as an Assistant professor (2005-2012). He co-founded a proprietary algorithmic trading and asset management company in Boston in 2012 where he served as the Sr. Portfolio Manger. Dr. Olfati-Saber is the recipient of the 2010 PECASE award from President Obama and the 2008 NSF CAREER award. He is the author of three seminal papers in robotics and control that are combined over 9000 times cited. His research interests include robotics and autonomous vehicles; distributed estimation and control theory; complex networks; statistical modeling, learning, and inference; human behavioral modeling; and human-robot systems.
Friday, April 25, 2014 at 10:30am to 12:00pm
Curry Student Center, 348
346 Huntington Avenue, Boston, MA, Boston