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CATEGORIES:Academics,College of Engineering
DESCRIPTION:"Engineering Emergence in Robotic Systems"\n\nAbstract:\nComple
 x systems consist of diverse agents that are interdependent\, connected\, a
 nd continually adapt to changes in the system and environment. The defining
  feature of complex systems is the phenomenon of emergence\, which describe
 s the spontaneous creation of order and functionality from the bottom up. W
 e see emergent patterns at every level in the physical world\, both in the 
 structure and functionality of complex systems. Some emergent phenomena are
  desirable\, for example\, the swirling patterns created by flocks of starl
 ings or the natural formation of lanes in heavy pedestrian traffic. Other e
 mergent phenomena are undesirable\, such as phantom traffic jams that emerg
 e from local interactions between vehicles on a highway. Emergence enables 
 a system to accomplish tasks that are unachievable by any individual agent 
 while remaining robust to noise\, disturbances\, and agent failure. This ma
 kes an emergence framework ideal for multi-robot and swarm applications\, w
 here monetary constraints significantly restrict the sensing\, actuating\, 
 and communicating ability. In this talk\, I will present an approach to exp
 loit the mechanism of emergence through the rigorous application of decentr
 alized optimal control. I will start with a multi-level iterative control f
 ramework\, which is explored through a case study on the desirable emergenc
 e of highway platooning with connected and automated vehicles. This leads t
 o intuitive interpretations of the sufficient conditions for the emergence\
 , and suppression\, of platooning behavior. In the second part of the talk\
 , I will rigorously justify the use of integrator dynamics for planning in 
 robotic systems via differential flatness. I will conclude the talk with a 
 vision of future research and several fundamental open questions.
DTEND:20211105T180000Z
DTSTAMP:20260312T045355Z
DTSTART:20211105T170000Z
LOCATION:Harker Interdisciplinary Science and Engineering Laboratory (ISE)\
 , 302
SEQUENCE:0
SUMMARY:CARS Junior Lecturer Seminar Series: Logan E. Beaver
UID:tag:localist.com\,2008:EventInstance_38182390050231
URL:https://events.udel.edu/event/cars_junior_lecturer_seminar_series_logan
 _e_beaver
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