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UID:0-205@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20220307T133000

DTEND;TZID=Asia/Jerusalem:20220307T143000

DTSTAMP:20230403T100430Z

URL:https://aerospace.technion.ac.il/events/development-and-implementation
 -of-optimal-strategies-for-constrained-motion-planning/

SUMMARY:Development and Implementation of Optimal Strategies for Constraine
 d Motion Planning
DESCRIPTION:Lecturer:Bhargav Jha\n Faculty:Department of Aerospace Engineer
 ing\n Institute:Technion – Israel Institute of Technology\n Location:Cla
 ssroom 165\, ground floor\, Library\, Aerospace Eng & https://technion.zoo
 m.us/j/98898727601\n Zoom: \n Abstract: \n Details: \n The deployment of a
 utonomous vehicles in several domains requires efficient planning and trac
 king of trajectories that can satisfy constraints pertaining to the operat
 ing environment and the vehicle's kinematics\, while minimizing a suitabl
 e performance index. Catering to it\, in this talk\, we will discuss optim
 al planning and tracking of trajectories with the primary focus on applica
 tions like autonomous delivery systems\, surveillance\, and collision avoi
 dance.\nWe will begin with the characterization and computation of an exac
 t time-optimal trajectory between two oriented points via a moving circle 
 for a non-linear Dubins vehicle model. Here\, the moving circle may repres
 ent a moving obstacle or a neighborhood of interest. The choice of Dubins 
 model is owing to the fact that it is a simple yet sufficiently realistic 
 model to depict a simplified kinematics of fixed-wing unmanned aerial vehi
 cles\, cars\, and underwater vehicles.\n\nThereafter\, considering the sce
 narios with multiple vehicles\, we will present a cooperative guidance law
  for collision avoidance among a heterogeneous team of vehicles in an n-on
 -n planar engagement scenario. For computational tractability\, in this c
 ase\, we will discuss the use of a linearized engagement model and minimi
 zation of team effort of the vehicles as the suitable performance index.\n
 \nFinally\, for tracking a planned trajectory we will present the applica
 tion of game-theoretic approaches for precise and robust tracking of aggre
 ssive trajectories by multirotor platforms. The applicability of this appr
 oach for Dubins vehicle model will also be demonstrated.\n\nThe talk will 
 also include results from experimental validation of the proposed control 
 methods.
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Eng & https://t
 echnion.zoom.us/j/98898727601

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