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Abstract
Abstract
The integration of robots into our daily lives depends on their ability to operate reliably and safely in complex, dynamic environments. Despite significant progress, achieving robust performance under uncertainty remains one of the major challenges. The complexity and computational demands of real-time robust planning are significant obstacles, especially when considering, e.g., whole-body control of complex multi-body robots, or the hybrid dynamics arising in contact-based interaction tasks. In addition, a computationally efficient but descriptive representation and propagation of uncertainties are also essential tools which, despite considerable progress, are yet to be considered mature for fast real-time control of complex robots.
This workshop aims to address these challenges by bringing together top researchers and practitioners to explore the state of the art in integrated robust planning and control. We will focus on planning strategies that ensure system functionality despite disturbances/uncertainties, in line with the growing trend towards optimization-based predictive control. The workshop will cover a range of methodologies balancing formality and practicality, and address the uncertainties inherent in tasks involving motion, manipulation, and interaction. The ambition is to showcase the best our community has to offer for enhancing the practical applicability of robots in uncertain real-world scenarios.
Speakers
Speakers
Dr. Javier Alonso-Mora, Department for Cognitive Robotics, Delft University of Technology, Delft, The Netherlands. Title of the talk: “Robust motion planning in dynamic environments”
Dr. Sylvain Calinon, Idiap Research Institute, Martigny, Switzerland, and EPFL, Lausanne, Switzerland. Title of the talk: “Frugal learning for robot planning and control”
Prof. Sylvia Herbert, The Safe Autonomous Systems Lab, Mechanical and Aerospace Engineering, UC San Diego, San Diego. Title of the talk: “Safe robot interactions in uncertain environments”
Prof. Hanna Kurniawati, School of Computing, Australian National University, Australia. Title of the talk: “High Dimensional and Long-Horizon POMDPs”
Dr. Marco Pavone, Department of Aeronautics & Astronautics, Stanford University, California. Title of the talk: “Blending optimization-based and data-driven control for robust planning”
Dr. Michael Posa, General Robotics, Automation, Sensing and Perception (GRASP) Laboratory, University of Pennsylvania, Philadelphia. Title of the talk: “Contact-rich control: dealing with uncertainty and model error”
Dr. Alessandro Saccon, Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands. Title of the talk: “Impact-aware robotics: handling contact uncertainty in the presence of simultaneous impacts”
Organizers
Organizers
Tommaso Belvedere
Tommaso Belvedere
CNRS, Université de Rennes, Inria, IRISA, France
Andrea Pupa
Andrea Pupa
Department of Sciences and Methods for Engineering, University of Modena and Reggio Emilia, Italy
Amr Afifi
Amr Afifi
Robotics and Mechatronics, Faculty of Electrical Engineering, Mathematics & Computer Science, University of Twente, The Netherlands
Ludovic Righetti
Ludovic Righetti
Machines in Motion Laboratory, New York University, USA
Kim Hyoun Jin
Kim Hyoun Jin
Department of Aerospace Engineering, Automation and System Research Institute (ASRI) and Institute of Advanced Aerospace Technology (IAAT), Seoul National University, South Korea
Paolo Robuffo Giordano
Paolo Robuffo Giordano
CNRS, Université de Rennes, Inria, IRISA, France
Acknowledgements
Acknowledgements
This workshop is supported by Technical Committee on Model-based Optimization, Design, and Control of Robot Systems.
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