Hierarchical Abstractions for Planning & Control of Robotic Swarms
Speaker: Calin Belta , Boston University
Date: February 28 2006
Time: 4:00PM to 5:00PM
Location: 32-D463 (Star)
Host: Daniela Rus, MIT
Contact: Alise, 617 253-5817, alise@csail.mit.edu
Relevant URL: Abstract:
Specifying, planning, and controlling the motion of large
groups of mobile agents (swarms) are difficult problems that received a
lot of attention in recent years. I will present some recent results on
reducing the dimension and complexity of such problems by defining
abstractions. First, I will focus on continuous abstractions, which are
obtained by extracting a small set of essential features of a swarm that
can be used for planning and control. Second, I will show how discrete
abstractions can be used to construct a finite dimensional description
of the problem.
Third, I will present an example in which the above two types of
abstractions are seamlessly linked into a hierarchical abstraction
framework, in which high level swarm specifications given as temporal
logic formulas over features of interest are automatically converted
into provably correct robot control laws.
Bio: Calin Belta received B.S. and M.Sc. degrees in Control and Computer
Science from the Technical University of Iasi, before earning an M.Sc.
in Electrical Engineering from Louisiana State University, and M.Sc. and
Ph.D. in Mechanical Engineering from the University of Pennsylvania. He
is currently an Assistant Professor in the Departments of Manufacturing
Engineering and Aerospace and Mechanical Engineering at Boston
University, where he is also affiliated with the Center for Information
and Systems Engineering and the Center for Biodynamics. His research
interests include planning and control for formations of robots, hybrid
systems, and bio-molecular networks.
Calin Belta received an NSF CAREER award in 2005, a Fulbright study
award in 1997, and was the Valedictorian of his class in 1995. He
received the best paper award at the Int. Conf. on Systems Biology in
2004 and was a finalist for the ASME Design Engineering Technical
Conference best paper award in 2002 and for the Anton Philips best
student paper award at the IEEE Int. Conf. on Robotics and Automation in
2001.
See other events that are part of Robotics Seminar Series Spring 2006
See other events happening in February 2006
