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GRASP Seminar Series: Fall 2007
November 30, 11:00 a.m., Wu & Chen Auditorium, Levine Hall (3330 Walnut Street)
Richard Murray
California Institute of Technology
"Networked Control for Autonomous Systems"
Abstract: Increases in fast and inexpensive computing and communications have enabled a new generation of 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 and 2007 DARPA Grand Challenges. 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.
Biography: Richard M. Murray received the B.S. degree in Electrical Engineering from California Institute of Technology in 1985 and the M.S. and Ph.D. degrees in Electrical Engineering and Computer Sciences from the University of California, Berkeley, in 1988 and 1991, respectively. He is currently the Thomas E. and Doris Everhart Professor of Control and Dynamical Systems and the Director for Information Science and Technology at the California Institute of Technology, Pasadena. Murray's research is in the application of feedback and control to mechanical, information, and biological systems. Current projects include integration of control, communications, and computer science in multi-agent systems, information dynamics in networked feedback systems, analysis of insect flight control systems, and biological circuit design.
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