报告题目：Motion Planning and Control for Autonomous Robots in Obstacle-rich Environments

报告人：Prof. Lihua Xie（Nanyang Technological University, Singapore）

报告时间：2023年7月22日16:00-17:30

报告地点：综合楼308会议室

主持人：孟伟

报告摘要：

Autonomous robots are playing an ever-increasing role in civilian, industrial and military fields. For accomplishing missions in complex environments, the capability of fully autonomous navigation while avoiding unexpected collisions is a fundamental and crucial requirement. In this talk, we shall discuss the motion planning problem, and present methodologies and system designs that enable robots to efficiently navigate in obstacle-rich environments. First, we discuss map-based motion planning based on model predictive control (MPC) and differential dynamic programming (DDP) for a single robot. Extensions to multi-robot motion planning are given. We further discuss map-less navigation via deep reinforcement learning. Simulations and experiments are given to demonstrate the proposed methods.

专家简介：Prof. Lihua Xie，School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore

Lihua Xie is a professor with School of Electrical and Electronic Engineering, Nanyang Technological University and Director, Center for Advanced Robotics Technology Innovation (CARTIN) which received $25M funding from National Research Foundation of Singapore. He has served as Head of Control and Instrumentation Division and Director of Delta-NTU Corporate Laboratory for Cyber-Physical Systems (total funding of $45M). His research areas include control engineering, indoor positioning, and unmanned systems. He has authored and co-authored 10 books, over 540 journal and 400 conference articles, and 25 patents/technical disclosures, and was listed as a highly cited researcher. He is currently an Editor-in-Chief of Unmanned Systems and an associate editor for IEEE Control System Magazine. He has served as an Editor of IET Book Series on Control and Associate Editor of IEEE Transactions on Automatic Control, Automatica, IEEE Transactions on Control Systems Technology, IEEE Transactions on Control of Network Systems, etc. He was an IEEE Distinguished Lecturer (2011-2014). Professor Xie is Fellow of Academy of Engineering Singapore, Fellow of IEEE, Fellow of IFAC and Fellow of CAA.