CDS Lecture Series

Wednesday, March 6, 2003, 3:00 p.m.

Francesco Bullo
General Engineering Department
Coordinated Science Lab
University of Illinois at Urbana-Champaign

Geometric strategies for motion planning and coordination

Motion planning and coordination are key technological problems in the development of dexterous and autonomous robotic systems. This talk presents analysis and design methodologies that build on concepts from nonlinear control theory, and differential and computational geometry. For single vehicle systems, we present a novel controllability notion and its application in planning problems. For multi-vehicle networks, we introduce decentralized control laws for the coordination of multiple agents performing a spatially distributed sensing tasks.

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