MBSE Colloquium/LM Robotics Seminar: Sandra Hirche, "Fair Control under Resource Constraints"
Monday, November 25, 2013
1146 A.V. Williams Building
Model-Based Systems Engineering Colloquium
Lockheed Martin Robotics Seminar
Fair Control under Resource Constraints
Electrical Engineering and Information Technology
Technishe Universitat Munchen
Roundtable discussion at 4:00 p.m.
Teleoperation over the Internet, robot control using distributed sensors and distributed computational resources in smart environments, and cooperative mobile robot manipulation are examples of cyberphysical systems in robotics where communication and/or computational resources are constrained. The scientific challenge is to design control schemes taking into account such resource constraints in first place, and preferably even include fair resource sharing mechanisms among different applications. Recent results indicate major benefits of event-based control compared to conventional designs, when resources are scarce. In this talk we present a novel approach for the fair event-based control of multiple control loops, which share the communication resource. We provide a distributed solution for the resource sharing, which exploits the adaptation ability of event-triggered control in terms of communication traffic elasticity. This property is used to implement a distributed price exchange mechanism, where event-triggers adapt their thresholds according to the resource constraints.
Sandra Hirche holds the Liesel Beckmann Chair and is director of the Institute for Information-oriented Control at Technische Universitat Munchen, Germany. She received the diploma engineer degree in Aeronautical and Space Engineering in 2002 from the Technical University Berlin and the Doctor of Engineering degree in Electrical Engineering and Information Technology in 2005 from Technische Universitat Munchen. From 2005-2007 she has been a postdoctoral fellow of the Japanese Society for the Promotion of Science at the Tokyo Institute of Technology. Prior to her present appointment she has been an associate professor at Technische Universitat Munchen. Her research interests include networked dynamical systems, cooperative and distributed control, and event-based control with applications in human-in-the-loop systems, large-scale infrastructure systems, and robotics. Sandra Hirche is senior member of the IEEE. She serves as Chair for Student Activities in the IEEE Control System Society (CSS) since 2009, as Chair of the CSS Awards Subcommittee on "CDC Best Student-Paper Award" since 2010, and is elected member of the Board of Governors of IEEE CSS since 2010.