{"606154":{"#nid":"606154","#data":{"type":"event","title":"Ph.D. Proposal Oral Exam - Paul Glotfelter","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u0026nbsp;\u003C\/strong\u003EConstraint Composition and Control Synthesis for Multi-Robot Systems\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ECommittee:\u0026nbsp;\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Magnus Egerstedt (Adviser)\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Sam Coogan\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Seth Hutchinson\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Jonathan Rogers\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Jorge Cortes (UCSD)\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EFrom mobile sensor networks to autonomous-transportation systems, multi-agent solutions have been proposed to accomplish a number of tasks.\u0026nbsp; However, these systems typically require satisfaction of multiple constraints, such as safety or connectivity maintenance, while completing their primary objectives.\u0026nbsp; Barrier functions represent one method to enforce such constraints via forward set invariance.\u0026nbsp; Completed work has focused on building a system of Boolean logic for barrier functions by using min and max operators.\u0026nbsp; As these objects inherently introduce nonsmoothness, the completed work has extended the theory on barrier functions to nonsmooth barrier functions.\u0026nbsp; Additionally, the completed work has explicitly addressed controlled systems by formulating nonsmooth control barrier functions.\u0026nbsp; These developments have been successfully applied to a variety of multi-robot systems, including remotely accessible testbeds, autonomous-transportation scenarios, and leader-follower systems.\u0026nbsp; These results inform the proposed work: to develop a rich and flexible system of logic to enable constraint composition and control synthesis for multi-robot systems.\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Constraint Composition and Control Synthesis for Multi-Robot Systems"}],"uid":"28475","created_gmt":"2018-05-14 16:55:39","changed_gmt":"2018-05-14 16:55:39","author":"Daniela Staiculescu","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2018-05-18T12:00:00-04:00","event_time_end":"2018-05-18T14:00:00-04:00","event_time_end_last":"2018-05-18T14:00:00-04:00","gmt_time_start":"2018-05-18 16:00:00","gmt_time_end":"2018-05-18 18:00:00","gmt_time_end_last":"2018-05-18 18:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"434371","name":"ECE Ph.D. Proposal Oral Exams"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"},{"id":"1808","name":"graduate students"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}