Distinguished ICON Seminar by Prof. Karl Henrik Johansson (KTH)
| Event Date: | March 4, 2022 |
|---|---|
| Speaker: | Prof. Karl Henrik Johansson |
| Speaker Affiliation: | KTH Royal Institute of Technology |
| Time: | 2:00pm-3:00pm |
| Location: | https://purdue-edu.zoom.us/j/98949233496?pwd=Vm53YTMvSVE1OS9LYXVTb2EyQWJhUT09 |
| Priority: | No |
| College Calendar: | Show |
Title: Control Synthesis based on Temporal Logic Trees with Application to Shared Autonomy
Zoom link: https://purdue-edu.zoom.us/j/98949233496?pwd=Vm53YTMvSVE1OS9LYXVTb2EyQWJhUT09
Control Synthesis based on Temporal Logic Trees with Application to Shared Autonomy
Abstract:
Traditional control methods, such as model predictive control, are able to efficiently incorporate state and input constraints into the control synthesis problem. In this talk, we will discuss how more complex specifications based on linear temporal logic (LTL) can be included. We introduce the new notion of a temporal logic trees (TLT) and show how they can be derived from any LTL formula using classical reachability analysis. Conditions are given to verify whether a system satisfies an LTL formula or not by using TLT. The presented framework allows the treatment of uncertain and time-varying system as well as environment models, different from many other approaches. We give an online control synthesis algorithm, under which a set of feasible control inputs can be generated at each time step and show that this algorithm is recursively feasible. The proposed method is demonstrated in applications of automated vehicles and shared-autonomy systems. The talk is mainly based on joint work with Yulong Gao, Frank Jiang, Mirco Giacobbe, and Alessandro Abate.
Bio:
Karl H. Johansson is Professor with the School of Electrical Engineering and Computer Science at KTH Royal Institute of Technology in Sweden and Director of Digital Futures. He received MSc degree in Electrical Engineering and PhD in Automatic Control from Lund University. He has held visiting positions at UC Berkeley, Caltech, NTU, HKUST Institute of Advanced Studies, and NTNU. His research interests are in networked control systems and cyber-physical systems with applications in transportation, energy, and automation networks. He is President of the European Control Association and member of the IFAC Council, and has served on the IEEE Control Systems Society Board of Governors and the Swedish Scientific Council for Natural Sciences and Engineering Sciences. He has received several best paper awards and other distinctions from IEEE, IFAC, and ACM. He has been awarded Swedish Research Council Distinguished Professor, Wallenberg Scholar with the Knut and Alice Wallenberg Foundation, Future Research Leader Award from the Swedish Foundation for Strategic Research, the triennial IFAC Young Author Prize, and IEEE Control Systems Society Distinguished Lecturer. He is Fellow of the IEEE and the Royal Swedish Academy of Engineering Sciences.
Seminar Video:
2022-03-04 14:00:00 2022-03-04 15:00:00 America/Indiana/Indianapolis Distinguished ICON Seminar by Prof. Karl Henrik Johansson (KTH) Title: Control Synthesis based on Temporal Logic Trees with Application to Shared Autonomy https://purdue-edu.zoom.us/j/98949233496?pwd=Vm53YTMvSVE1OS9LYXVTb2EyQWJhUT09