http://www.lss.supelec.fr/seminaires-automatique/seminar.html
10h00-11h00 : Florin Stoican, Politehnica University of Bucharest
Title : On corner cutting in multi-obstacle avoidance problems
Abstract : One challenging and not extensively studied issue in obstacle avoidance is the corner cutting problem. Avoidance constraints are usually imposed at the sampling time without regards to the intra-sample behavior of the dynamics. This talk improves upon state of the art by describing a multi-obstacle environment via a hyperplane arrangement, provides a piecewise description of the forbidden regions and represents them into a combined mixed integer and predictive control formulation. Furthermore, over-approximation constraints which reduce to strictly binary conditions are discussed in detail.
11h00-12h00 Julien Marzat, Onera
Title : Model Predictive Control for Cooperative Guidance of Autonomous Vehicles
Abstract : This presentation describes a comprehensive framework for the cooperative guidance of a fleet of autonomous vehicles, relying on Model Predictive Control (MPC). Solutions are provided for many common problems in cooperative control, namely collision and obstacle avoidance, formation flying and area exploration. Cost functions of the MPC strategy are defined to ensure a safe collaboration between the vehicles for these applications. An efficient way to select the optimal cost with limited computation time is also provided. The performance of the proposed approach is illustrated by simulation and experimental results.
We hope, with this survey, to contribute to the preserving of milestones otherwise little remembered in modern texts and, hence, little known to young(er) generations.