Subject: International Young Scholars Seminar on Frontiers of Intelligent Science and Technology
Time: 9:00-12:00am, 28th Dec, 2019
Place: Room 207, Laboratory Building 15
Report 1: Multi-robot Coordination under Various Constraints
Speaker: Dr Zhiyong Sun
Abstract:
In this talk we discuss coordination control and motion planning for multiple autonomous mobile robots under various constraints. The constraints involve equalities/inequalities that describe certain coordination tasks, which may be time-varying under temporal requirements. We develop a general framework involving differential-algebraic equations and viability theory to determine coordination feasibility and propose a heuristic algorithm to generate feasible motions for a coordinated robotic control, while robots can be subject to heterogeneous dynamics and various motion constraints.
About the speaker:
Zhiyong Sun received the Ph.D. from The Australian National University (ANU), Canberra ACT, Australia in Feb. 2017. He was a Research Fellow and Lecturer with the Research School of Engineering, ANU, from 2017 to 2018. From Jun. 2018 to Dec. 2019, he was a postdoc researcher at the department of Automatic Control, Lund University of Sweden. His research interests include autonomous robotic systems, distributed control and optimization, and multi-agent coordination systems.
Report 2: Dynamical Processes on Social Networks: Modeling, Analysis and Control
Speaker: Dr Fangzhou Liu
Abstract:
Dynamical processes on social networks draw enormous attention for researchers from multitudes of fields. In this talk, we aim to build a bridge between control theory and social networks by providing mathematical modeling, analysis, and control. We focus on two representative dynamical processes: information diffusion and opinion dynamics. After introducing heterogeneous node-based epidemic models, we provide analysis results and design optimal control rule. We also study the various feasibility of opinion dynamics on coopetitive social networks. Our particular emphasis is on the joint impact of individual dynamical properties and their social ties.
About the speaker:
Fangzhou Liu received the M.Sc. degree in control theory and engineering from Harbin Institute of Technology, Harbin, China, in 2014 and the Ph.D from the Technical University of Munich (TUM), Germany, in 2019. He is now a Lecturer with the Chair of Automatic Control Engineering, TUM, GE.
His research interests include networked control systems; modeling, analysis, and control on social networks; and their applications.
Report 3: Bias Estimation in Sensor Networks
Speaker: Dr Mingming Shi
Abstract:
In this talk, we consider the problem of cooperatively estimating biases from relative state measurements. We characterize conditions on the number of biased sensors such that the sensors' biases can be exactly recovered. The analysis shows that the ability to estimate the biases depends on whether the measurement graph is bipartite or not. We also propose algorithms to estimate the biases.
About the speaker:
Mingming Shi received his bachelor and master degree from Harbin Institute of Technology, China, in 2013 and 2015, respectively. He received his Ph.D. degree from the University of Groningen, NL. His research interests include cyber-physical systems security, networked control under communication constraints and distributed control systems.
Report 4: Precedence-Constrained Task Assignment for Heterogeneous Vehicles
Speaker: Dr Xiaoshan Bai
Abstract:
In this talk, we study the task assignment problem for a truck and a micro drone to deliver packages to a set of customers with precedence constraints. The truck is restricted to travel in a street network and the drone can fly from the truck to perform the last mile package deliveries. The objective is to minimize the time to serve all the customers respecting every precedence constraint. Due to the NP-hard fact of the problem, a lower bound on the optimal time to serve all customers is constructed. Several heuristic algorithms are proposed to solve the problem.
About the speaker:
Xiaoshan Bai received his Ph.D. in Systems Engineering from the University of Groningen (RUG), the Netherlands, in Nov. 2018. From Nov. 2018 to Jul. 2019, he was a lecturer with RUG, NL. Since Aug. 2019, he was a postdoc researcher with the Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, NL. His research interests include multi-vehicles path planning and task assignment, logistic scheduling, and intelligent and heuristic algorithm design.
Report 5: Torque Sensor-Less Collision Detection and Identification
Speaker: Dr Zengjie Zhang
Abstract:
In the past decade, the world has witnessed the fast development of artificial intelligent (AI) and robotic technology. The demand for efficiently managing the relationship between robots and humans motivates the research on safety issues of human-robot interaction (HRI). In this talk, we focus on the handling of unexpected collisions and introduce a novel approach for the detection and identification of external robot collisions based on control and supervised learning methods. By presenting such a specific demonstration, we intend to propose a new framework for the safety HRI, where the advantages of both control theory and learning technology are utilized.
About the speaker:
Zengjie Zhang received his bachelor and master degrees from Harbin Institute of Technology, China, in 2013 and 2015 respectively. He is a Ph.D. candidate at the Chair of Automatic Control Engineering of the Technical University of Munich, Germany. His research interests include sliding mode control, fault detection and isolation and human-robot collaboration.