{"618487":{"#nid":"618487","#data":{"type":"event","title":"Ph.D. Dissertation Defense - Paul Glotfelter","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle\u003C\/strong\u003E\u003Cem\u003E:\u0026nbsp; \u003C\/em\u003E\u003Cem\u003ESpecification Composition and Controller Synthesis for Robotic Systems\u003C\/em\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Magnus Egerstedt, ECE, Chair , Advisor\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Sam Coogan, ECE\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Seth Hutchinson, ECE\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Jonathan Rogers, AE\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 precision agriculture to autonomous-transportation systems, robotic systems 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;The objective of this thesis is to endow robotic systems with a Boolean-composition and controller-synthesis framework for specifications of objectives and constraints. \u0026nbsp;Barrier functions represent one method to enforce such constraints via forward set invariance, and Lyapunov functions offer a similar guarantee for set stability. \u0026nbsp;This thesis focuses on building a system of Boolean logic for barrier and Lyapunov functions by using $\\min$ and $\\max$ operators. \u0026nbsp;As these objects inherently introduce nonsmoothness, this thesis extends the theory on barrier functions to nonsmooth barrier functions and, subsequently, to controlled systems via control nonsmooth barrier functions. \u0026nbsp;However, synthesizing controllers with respect to a nonsmooth function may create discontinuities; as such, this thesis develops a controller-synthesis framework that, despite creating discontinuities, still produces valid controllers (i.e., ones that satisfy the objectives and constraints). \u0026nbsp;These developments have been successfully applied to a variety of robotic systems, including remotely accessible testbeds, autonomous-transportation scenarios, and leader-follower systems.\u003C\/p\u003E\r\n","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Specification Composition and Controller Synthesis for Robotic Systems "}],"uid":"28475","created_gmt":"2019-02-26 18:42:57","changed_gmt":"2019-02-26 18:42:57","author":"Daniela Staiculescu","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2019-03-06T08:30:00-05:00","event_time_end":"2019-03-06T10:30:00-05:00","event_time_end_last":"2019-03-06T10:30:00-05:00","gmt_time_start":"2019-03-06 13:30:00","gmt_time_end":"2019-03-06 15:30:00","gmt_time_end_last":"2019-03-06 15:30:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"434381","name":"ECE Ph.D. Dissertation Defenses"}],"categories":[],"keywords":[{"id":"100811","name":"Phd Defense"},{"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":""}}}