Networked Control for Autonomous Systems

Professor Richard M. Murray

Control and Dynamical Systems

CALIFORNIA INSTITUTE OF TECHNOLOGY

Abstract

Increases in fast and inexpensive computing and communications have enabled a new generation information-rich control systems that rely on multi-threaded networked execution, distributed optimization, adaptation and learning, and contingency management in increasingly sophisticated ways. This talk will describe a framework for building such systems and lay out some of the challenges to control theory that must be addressed to enable systematic design and analysis. A driving example is provided by Alice, an autonomous vehicle that competed in the 2005 DARPA Grand Challenge. Key features of Alice include a highly sensory-driven approach to fuse sensor data into speed maps used by real-time trajectory optimization algorithms, health and contingency management algorithms to manage failures at the component and system level, and a multi-threaded, networked control architecture that enables plug-and-play operations and testing.

Friday, March 9. 2007

3:30 – 4:30 p.m.

Rm. 1500 EECS