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A half-day workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems
Abu Dhabi, United Arab Emirates
Date: Tuesday, October 15, 2024
Time: 8:00-12:00
Location: Room 15
Advancements in robotics have played a pivotal role in transforming various industries, including space, manufacturing, and healthcare. However, the complexity of robotic systems and the partially known environments they must operate in persistently present challenges regarding their general autonomy in task execution. Geometric methods have been proven to offer a unique perspective that facilitates a deeper understanding of the characteristics of robotic systems and their more efficient locomotion and manipulation.
Research on geometric mechanics, with its key motivating example being rigid body motion, has centuries of rich history. The proposed workshop aims to delve into the transformative potential of geometric mechanics in enhancing the modeling, perception, and control of robotic systems with soft/rigid bodies, intricate topologies, realistic constraints at their mobile base or end-effector, and complex environmental interactions.
The workshop will explore a variety of recent advancements in the application of geometric methods in guidance, navigation, and control of robotic systems for their general autonomy. These include geometric learning, physics-informed neural networks for surrogate modeling, screw theory for kinematic analysis, singularity-free dynamic modeling, geometric methods for sensor-based perception, and geometric control, with a focus on practical applications in various industries. The intention is to provide a platform for exchanging cutting-edge research, interdisciplinary collaboration, and practical insights into implementing geometric methods for improved robotic performance.
Objectives of the Workshop:
In this workshop, we plan to facilitate the discussion around geometric guidance, navigation, and control methods to improve the general autonomy of robotic systems in locomotion and manipulation. Accordingly, we set the workshop's major objectives as:
To evaluate the geometric solutions for the intelligence and autonomy of robotic systems designed for challenging tasks and complex environments.
To discuss the role of geometry in the artificial intelligent for robotic applications
To showcase the state-of-the-art solutions for modeling, reinforcement learning, path planning, information fusion, and control in robotic locomotion and manipulation
To present the current goals and open problems in the general autonomy of robotic system with focus on exploring their geometric solutions
To facilitate an interactive discussion between academia and industry on the general autonomy and intelligence of robots for future applications.
Invited Speakers:
Anthony Bloch
Alexander Ziwet Collegiate Professor of Mathematics
University of Michigan
Gregory S. Chirikjian
Willis F. Harrington Professor of Mechanical Engineering
University of Delaware
Ross Hatton
Associate Professor of Engineering
Oregan State University
Vakhtang Putkaradze
Centennial Professor of Mathematical and Statistical Sciences
University of Alberta
Federico Renda
Associate Professor of Mechanical Engineering
Khalifa University
Alin Albu-Schaeffer
Director of the Institute of Robotics and Mechatronics
German Aerospace Center (DLR)
Organizers:
Robin Chhabra
Associate Professor & Canada Research Chair in Cognitive Soft Space Robotics
Carleton University
Andreas Müller
Professor & Director of Institute for Robotic
Johannes Kepler University of Linz
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