Event Scheduled for Feb 12, 2013
Event: ECE Faculty Candidate Seminar-Ashwin Dani-University of Illinois atUrbana-Champaign- Robust and Optimal Nonlinear Estimation Methods for Vision-Based Navigation and Control - Reception starts at 12:30 pm
Location: ITEB 336
Time: 01:00 pm
Details of Event:
Nonlinearities, stochastic noise and disturbances in system dynamics pose many challenges in designing computationally efficient, robust, and optimal state estimation algorithms. In this talk, observer-based methods are presented using tools from nonlinear and stochastic control theory. The first part of this talk is focused on robust estimation methods for deterministic nonlinear systems in the presence of uncertainties and disturbances. The results are demonstrated by extracting real-time 3D information from a sequence of 2D camera images of static and dynamic scenes, including relative range estimation of moving ground vehicles using an unmanned aerial system, single camera passive ranging for submarines, and geo-location from handheld video. The second part of this talk is focused on recent advancements in contraction analysis, a stability tool for dynamical systems, of Ito stochastic nonlinear dynamical systems. A new state estimation algorithm is presented for nonlinear stochastic systems using stochastic contraction. The effectiveness of the method is shown using robot pose and landmark position estimation as well as synchronization of the Lorentz oscillators. This talk concludes with a research plan on estimation and control in advanced robotics.
Bio: Ashwin Dani is a post-doctoral research associate in the Aerospace Engineering department at the University of Illinois at Urbana-Champaign. His research interests are in the areas of nonlinear estimation and control, robotics, autonomous navigation, multi-agent systems, stochastic estimation and control, and vision-based control. He received his Ph.D. (2011) and M.S. (2008) degrees from the Department of Mechanical and Aerospace Engineering (MAE) at the University of Florida (UF). He is a recipient of the Best Dissertation Award for Dynamics, Systems and Control for the year 2011 from the department of MAE at UF.
Target Audience: Open to All
Sponsored By: Electrical and Computer Engineering
No Pamphlet/Flyer Available