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HURWITZ LECTURE : Hybrid Systems with accent on Unmanned Aerial Vehicles

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Abstract:
At Berkeley we have been interested in design schemes for network of complex networks of semi-autonomous agents. These networks are characterized by interaction between discrete control. The control of such systems is often frequently organized in hierarchical fashion to obtain a logarithmic decrease in complexity associated with the design, We have used as examples three classes of systems to motivate the design approach: (i) Intelligent Vehicle Highway Systems (IVHS) (ii) Air Traffic Management Systems (ATMS) (iii) Unmanned Aerial Vehicles. Over the last five years or so, a group of us have developed a set of design approaches which are aimed at designing control schemes which are live, deadlock free, and ``safe''. Our design methodology is to be considered an alternative to the verification based approaches to hybrid control systems design, and is an interesting blend of game theoretic ideas, fault handling in a probabilistic framework,mathematical and temporal logic and planning ideas from robotics. In these talks, we will focus on design problems involved in coordinating groups of Unmanned Aerial Vehicles (UAVs). Problems to be addressed include: (i) Rapid prototyping of real time control laws: a hybrid systems design and simulation environment. (ii) Mode Switching and envelope protection. (iii) Vision based control for navigation. (iv) Mission planning for multi-UAV missions. The work is joint with (in alphabetical order) Datta Godbole, Joao Hespanha, Hyoun Jin Kim, John Koo, John Lygeros, Omid Shakernia, David Shim, and Claire Tomlin.

http://robotics.eecs.berkeley.edu/~mcenk/
Type of Seminar:
Public Seminar
Speaker:
Prof. Shankar Sastry
Department of Electrical Engineering and Computer Sciences University of California. Berkeley. CA 94720-1770 USA
Date/Time:
Nov 18, 1999   17:15
Location:

ETH Zentrum, ETZ E6, Gloriastrasse 35, 8006 Zurich
Contact Person:

Prof. Manfred Morari
No downloadable files available.
Biographical Sketch:
Shankar Sastry received his Ph.D. degree in 1981 from the University of California, Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon Mc Kay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and a Professor of Bioengineering, and the Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University, Canberra the University of Rome, Scuola Normale and University of Pisa, the CNRS laboratory LAAS in Toulouse (poste rouge), Professor Invite at Institut National Polytechnique de Grenoble (CNRS laboratory VERIMAG), and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control, robotic telesurgery, control of hybrid systems, embedded systems, sensor networks and biological motor control. He is a coauthor of three books in the areas of adaptive control, robotic manipulation and nonlinear control and co-edited several other books on hybrid systems. Prof. Sastry received the President of India Gold Medal in 1977, the IBM Faculty Development award for 1983-1985, the NSF Presidential Young Investigator Award in 1985 and the Eckman Award of the of the American Automatic Control Council in 1990, an M. A. (honoris causa) from Harvard in 1994, the distinguished Alumnus Award of the Indian Institute of Technology in 1999, and the David Marr prize for the best paper at the International Conference in Computer Vision in 1999.