| Agenda |
Monday, 5 November 2012 |
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PhD presentation: |
Distributed Estimation and Control for Robotic Networks |
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| Speaker: |
Andrea Simonetto Preceding the defense Andrea will give a short presentation at 09.30 |
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| Supervisor: | Prof.dr.R. Babuška, Dr. T. Keviczky | ||
| Location: | Aula Senaatszaal, Mekelweg 5 | ||
| Time: | 10:00 until 12:00 | ||
| Abstract: |
Devices that communicate and cooperate to achieve a common task have been considered with growing interests in recent years. These groups of possibly heterogeneous systems -- usually referred to as robotic networks -- have a large variety of potential applications among which monitoring, exploration, search and rescue and disaster relief. From a research standpoint, the basic ingredients that have been considered as foundations for robotic network technical development are distributed estimation, control, and optimization. The word ``distributed’’ refers to situations in which the cooperating devices have a limited, local, knowledge of the environment and of the group, and it is opposed to a ``centralized’’ scenario, where all the devices have access to the complete information. The typical challenge in distributed systems is to achieve similar results (in terms of performance of the estimation, control, or optimization task) with respect to a centralized system without extensive communication among the cooperating devices. In this thesis we develop effective distributed estimation, control, and optimization algorithms specifically tailored to the nature of robotic networks. In particular, we focus on issues related to nonlinearities, time-varying connectivity of the communication graph through which the devices interact, and real-time feasible (estimation or control) solutions for the common (estimation or control) objective. |
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