{"656769":{"#nid":"656769","#data":{"type":"event","title":"PhD Proposal by Manan Gandhi","body":[{"value":"\u003Cp\u003EManan Gandhi\u003Cbr \/\u003E\r\n(Advisor: Prof. Evangelos Theodorou)\u003Cbr \/\u003E\r\nwill propose a doctoral thesis entitled,\u003Cbr \/\u003E\r\nDecision-Making Architectures for Control of Uncertain Systems\u003Cbr \/\u003E\r\nOn\u003Cbr \/\u003E\r\nMonday, April 4th at 10:00 a.m.\u003Cbr \/\u003E\r\nMontgomery Knight Building 317\u003Cbr \/\u003E\r\nhttps:\/\/teams.microsoft.com\/l\/meetup-join\/19%3ameeting_M2U5OTc2ODItODQ0ZC00Yjc3LWEzOTYtOTFkZGI4ZmQ2OWI1%40t\u003Cbr \/\u003E\r\nhread.v2\/0?context=%7b%22Tid%22%3a%22482198bb-ae7b-4b25-8b7a-6d7f32faa083%22%2c%22Oid%22%3a%22ce970eeb-3\u003Cbr \/\u003E\r\nbbe-4298-affa-61d04718da2d%22%7d\u003Cbr \/\u003E\r\nAbstract\u003Cbr \/\u003E\r\nFrom aggressive driving, to drone racing, to cardiovascular control, each of these problems involves\u003Cbr \/\u003E\r\nuncertain dynamics and a requirement to make decisions. There exist both classical and modern\u003Cbr \/\u003E\r\ntechniques for control of dynamical systems which can be used to favor safety, exploration, control\u003Cbr \/\u003E\r\nperformance, or other criteria. Information Theoretic Model Predictive Control (IF-MPC) has been\u003Cbr \/\u003E\r\nutilized to great effect for autonomous racing by optimizing the system free energy through forward\u003Cbr \/\u003E\r\nsampling. This proposal presents a framework to perform robust model predictive control of uncertain\u003Cbr \/\u003E\r\ndynamical systems while taking advantage of traditional control techniques to make decisions during\u003Cbr \/\u003E\r\noperation. This work builds upon the idea of augmented importance sampling in IF-MPC to handle\u003Cbr \/\u003E\r\nrobustness, safety, and uncertainty in a general system. Additionally, this proposal includes future\u003Cbr \/\u003E\r\nresearch directions to handle hard safety constraints in the system state and multi-modality in the\u003Cbr \/\u003E\r\ndecision space, while providing theoretical guarantees on the system free energy by leveraging existing\u003Cbr \/\u003E\r\nproperties of modern control theory.\u003Cbr \/\u003E\r\nCommittee\u003Cbr \/\u003E\r\n\u25cf Prof. Evangelos Theodorou \u0026ndash; School of Aerospace Engineering (advisor)\u003Cbr \/\u003E\r\n\u25cf Prof. Joseph Saleh \u0026ndash; School of Aerospace Engineering\u003Cbr \/\u003E\r\n\u25cf Prof. Jonathan Rogers\u0026ndash; School of Aerospace Engineering\u003Cbr \/\u003E\r\n\u25cf Prof. Naira Hovakimyan\u0026ndash; School of Mechanical Science and Engineering, University of Illinois\u003Cbr \/\u003E\r\nat Urbana-Champaign\u003Cbr \/\u003E\r\n\u25cf David Kozlowski \u0026ndash; Distinguished Member of Technical Staff, Sandia National Laboratories\u003Cbr \/\u003E\r\n\u25cf Dr. Demetri Yannopoulos \u0026ndash; Department of Medicine Cardiovascular Division, University of\u003Cbr \/\u003E\r\nMinnesota\u003C\/p\u003E\r\n","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Decision-Making Architectures for Control of Uncertain Systems"}],"uid":"27707","created_gmt":"2022-03-29 18:20:46","changed_gmt":"2022-03-31 19:35:18","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2022-04-04T11:00:00-04:00","event_time_end":"2022-04-04T13:00:00-04:00","event_time_end_last":"2022-04-04T13:00:00-04:00","gmt_time_start":"2022-04-04 15:00:00","gmt_time_end":"2022-04-04 17:00:00","gmt_time_end_last":"2022-04-04 17:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78761","name":"Faculty\/Staff"},{"id":"78771","name":"Public"},{"id":"78751","name":"Undergraduate students"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}