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Keynote Lectures

Control of Underactuated Systems from Theory to Practice
Krzysztof Kozlowski, Poznan University of Technology, Poland

Collective and Individual Decision-Making in Swarm Robotics
Sanaz Mostaghim, Otto-von-Guericke-Universität Magdeburg, Germany

Multi-sensorial Environment Perception in Urban Environment
Csaba Benedek, SZTAKI, Institute for Computer Science and Control, Hungary

How to Address Uncertainty in Smaller, Faster, More Agile, Yet Safer Drones?
Erdal Kayacan, Aarhus University, Denmark

 

Control of Underactuated Systems from Theory to Practice

Krzysztof Kozlowski
Poznan University of Technology
Poland
 

Brief Bio

Professor K. Kozlowski received the M.S. degree in electrical engineering from Poznan University of Technology (PUT), Poland; and the Ph.D. degree in control engineering from PUT in 1979, where he is currently a full professor of robotics and automation. He joined the IEEE in 1983 and has been a Senior Member since 1988. He is the author of a book titled Modelling and Identification in Robotics (Springer-Verlag, 1998). He was and is on the editorial boards of several Polish and international journals (e.g. IEEE Robotics and Automation Magazine, IEEE Transactions on Control Systems Technology, Journal of Applied Mathematics and Computer Science, Journal of Intelligent Robotic Systems, Control Society Conference Editorial Board). He has served every year since 1995 on the ICRA Program Committee. He has worked as a program chair of the International Conference on Advanced Robotics (ICAR), 2001, International Workshop on Robot Motion and Control (RoMoCo) since 2001, and vice chairman of the IEEE Conference on Models in Automation and Robotics (MMAR), since 2001. In 2001 he was elected as a Chairman of the IEEE Robotics and Automation Chapter in Poland. The IEEE Robotics and Automation Society, Poland Section Chapter, was granted 2001 Chapter of the Year Award for the first time of history of the IEEE R$A. In 2014 he was reelected as chair of the IEEE Robotics and Automation Chapter in Poland. He is a member of the Control Systems Society Chapter in Poland. He has served as an RAS Administrative Committee member from 2000 till 2002 and 2004 till 2005. He served IEEE Control Systems Society as a member of Board of Governors in 2002 and 2003. He is also a member of EUROMECH, European Mechanics Society, since 1994 and GAMM, Geselschaft fur Angewandte Mathematik und Mechanik, since 1992. His control interest is in control of nonholonomic systems, multi-agent systems and application of robotic systems in particular in medicine and rehabilitation.


Abstract
In this paper we consider a class of mechanical systems that consists of two or three links acting on a vertical plane as planar manipulators with deficiency of control signals equal to one. In case of two link planar manipulators one can consider two classical systems such as Acrobot and Pendubot in the vertical position. In case of three link robot there are three possible single joints that are not actuated and two of them actuated. Controllability and stabilization in upright position of such systems is a main goal considered in this presentation. Using tools rooted in differential geometry maximal linearizing part is analyzed. It will be proved that zero dynamics is stable. Extensive simulation tests are run and comparative analysis will be carried out. Some experimental work will be discussed. Another important aim of this presentation is to show limitations and constraints that are present in implementation of formal differential geometry tools to linearize mechanical systems widely used in practical applications.



 

 

Collective and Individual Decision-Making in Swarm Robotics

Sanaz Mostaghim
Otto-von-Guericke-Universität Magdeburg
Germany
 

Brief Bio
Sanaz Mostaghim is a professor of computer science and head of SwarmLab at the Otto von Guericke University Magdeburg, Germany. She holds a PhD degree (2004) in electrical engineering from the University of Paderborn, Germany. Sanaz has worked as a postdoctoral fellow at ETH Zurich in Switzerland and as a lecturer at Karlsruhe Institute of Technology (KIT), Germany, where she received her habilitation degree in applied computer science. Her research interests are in the area of evolutionary multi-objective optimization and decision-making, swarm intelligence, and their applications in robotics and science. Sanaz is a member of the executive board of Informatics Germany and the head of the RoboCup team at the University of Magdeburg. She is an active member of IEEE Computational Intelligence Society (CIS) and serves as a member of the CIS Administration Committee. She is associate editor of IEEE Transactions on Evolutionary Computation and member of the editorial board of several international journals. 


Abstract
Available Soon



 

 

Multi-sensorial Environment Perception in Urban Environment

Csaba Benedek
SZTAKI, Institute for Computer Science and Control
Hungary
 

Brief Bio
Available Soon


Abstract
Available Soon



 

 

How to Address Uncertainty in Smaller, Faster, More Agile, Yet Safer Drones?

Erdal Kayacan
Aarhus University
Denmark
 

Brief Bio
Erdal Kayacan received a Ph.D. degree in electrical and electronic engineering at Bogazici University, Istanbul, Turkey in 2011. After finishing his post-doctoral research in KU Leuven at the division of mechatronics, biostatistics and sensors (MeBioS) in 2014, he worked in Nanyang Technological University, Singapore at the School of Mechanical and Aerospace Engineering as an assistant professor for four years. Currently, he is pursuing his research at Aarhus University at the Department of Engineering as an associate professor.

He has since published more than 110 peer-refereed book chapters, journal and conference papers in model-based and model-free control, parameter and state estimation, and their robotics applications.  He has completed a number of research projects which have focused on the design and development of ground and aerial robotic systems, vision-based control techniques and artificial intelligence. Dr. Kayacan is co-writer of a course book “Fuzzy Neural Networks for Real Time Control Applications, 1st Edition Concepts, Modeling and Algorithms for Fast Learning”. He is a Senior Member of Institute of Electrical and Electronics Engineers (IEEE). Since 1st Jan 2017, he is an Associate Editor of IEEE Transactions on Fuzzy Systems and IEEE Transactions on Mechatronics.


Abstract
Request for increased, almost perfect, accuracy and efficiency of aerial robots pushes the operation to the boundaries of the performance envelope and, thus, induces a need for reliable operation at the very limits of attainable performance. The use of advanced learning algorithms, which can learn the operational dynamics online and adjust the operational parameters accordingly, might be a candidate solution to all the aforementioned problems. This talk will focus both model-based and model-free learning methods to handle various real-time aerial robot control problems.  Furthermore, due to the cost associated with data collection and training, the topics related to approaches such as transfer learning will also be mentioned to transfer knowledge between aerial robots and thereby increase the efficiency of their control. Not but not the least, some state-of-the-art drone applications, e.g. autonomous drone racing and fully autonomous cinematography system for aerial drones with the aim of letting the onboard artificial intelligence completely take over the film directing, will also be elaborated.



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