Autonomous mobile systems: modelling, control and planning is coming at 02/18/2019 - 10:00am
Rogers 226 Mon, 02/18/2019 - 10:00am Corina Barbalata Postdoctoral Research Fellow, Naval Architecture and Marine Engineering Department, University of Michigan Abstract: The new generations of mobile robots have practical configurations and are designed to perform tasks in cluttered and dynamic environments (e.g smart factories, household environments or disaster areas) demanding robust and safe behavior. Unfortunately due to their complex mechanical design, nonlinear characteristics, and limited actuation capabilities, the mobile robots have difficulties performing complex tasks in these scenarios. Their abilities are even more limited in underwater environments, where the hydrodynamic effects and the floating-base configuration of the mobile manipulators restrain their autonomy. From a research perspective of both terrestrial mobile manipulator systems and floating-base underwater manipulators, there are important challenges to solve in topics such as coordinated whole body control, safe interaction with the environment, disturbance rejection and energy efficiency. Dr. Corina Barbalata has done extensive research in the area of mathematical modelling, control and planning architectures, addressing the previously mentioned challenges. She has focused on model-based adaptive control structures for improving the autonomy of lightweight underwater vehicle-manipulator systems, and optimal planning strategies for increasing the safety in mobile manipulation applications. Most recently, her research has explored the importance of designing robust architectures that bridge the low-level control architectures with high-level planning strategies, integrating in a systematic manner the available sensor information. In this seminar talk, Dr. Barbalata will discuss her research, its applications, and the future direction and possibilities of this work. Bio: Read more: http://eecs.oregonstate.edu/colloquium/autonomous-mobile-systems-modelli... [1] [1] http://eecs.oregonstate.edu/colloquium/autonomous-mobile-systems-modelling-control-and-planning
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