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GRASP Seminar: Marin Kobilarov, University of Southern California, “Discrete Geometric Motion Control of Autonomous Vehicles”

December 4, 2007 @ 3:30 pm - 4:30 pm

Abstract: This talk will consider the optimal control of autonomous vehicles operating in constrained environments. A general control framework for mechanical systems with symmetries and nonholonomic constraints will be presented. The main contribution of the proposed framework is the formulation of structure-preserving integration and optimization schemes based on the theory of discrete mechanics and variational integrators. Such a discrete geometric approach has various benefits that will be discussed. Several examples with simple robotic vehicle models will be shown.


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Marin Kobilarov is a research assistant at the USC Robotic Embedded Systems Lab under Dr. Gaurav Sukhatme. He is interested in robotics, mechanical systems and control, estimation theory, machine vision, and in general, the mathematical foundations of mechanics and robotics. He also likes to work on embedded systems and hardware and do robotic systems integration.


December 4, 2007
3:30 pm - 4:30 pm
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