Formal synthesis approaches to robot motion planning and control
Prof. Calin Belta
Friday, Feburay 25, 2011
|Abstract: In robot motion planning and control, the main challenge is to
automatically generate provably-control control and communication
strategies while at the same time allowing for a rich
specification language. In this talk, I will suggest that temporal
logics used in formal verification are good candidates for motion
specification languages. I will show that model checking and game
strategies can be transformed to control algorithms provided that
finite models of robot motion can be constructed. I will first focus on the construction of finite abstractions for robot dynamics and controlling the motion of one robot. I will then show results for multi-robot systems.
|Bio: Calin Belta received B.S. and M.Sc. degrees in Control and
Computer Science from the Technical University of Iasi, an M.Sc. in Electrical Engineering from Louisiana State University, and M.Sc. and Ph.D. in Mechanical Engineering from the University of Pennsylvania. He is currently an Assistant
Professor at Boston University. His research interests include analysis and control of hybrid systems, motion planning and control, and bio-molecular networks. Calin Belta is a member of the IEEE and an Associate Editor for the SIAM Journal on Control and Optimization (SICON). He received the AFOSR Young Investigator Award in 2008 and the NSF CAREER Award in 2005.