1-2 Ottobre 2022
Simposio Matematico RIMSE - Seconda edizione
Nei giorni 1 e 2 Ottobre 2022, si terrà online la Seconda edizione del Simposio Matematico RIMSE. Chiunque sia interessato è calorosamente invitato a partecipare.
Visita la pagina dedicata.
6 Giugno 2022
Strategie algebriche e geometriche nel controllo ottimale - Gaia Carenini
Giorno 6 Giugno 2022 alle ore 20:45, Gaia Carenini (ENS Paris) terrà un seminario online dal titolo Strategie algebriche e geometriche nel controllo ottimale.
Link: https://unipd.zoom.us/j/85468519081?pwd=TnVYZ3NJZTNpWVdXd1l4ZzUvanc4UT09
Abstract: Despite decades of work in fast reactive planning and control, challenges remain in developing reactive motion policies on non-Euclidean manifolds and enforcing constraints while avoiding undesirable potential function local minima. This work presents a principled method for designing and fusing desired robot task behaviors into a stable robot motion policy, leveraging the geometric structure of non-Euclidean manifolds, which are prevalent in robot configuration and task spaces. The Pullback Bundle Dynamical Systems (PBDS) framework drives desired task behaviors and prioritizes tasks using separate position-dependent and position/velocity-dependent Riemannian metrics, respectively, thus simplifying individual task design and modular composition of tasks. For enforcing constraints, we provide a class of metric-based tasks, eliminating local minima by imposing non-conflicting potential functions only for goal region attraction.