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dc.contributor.authorOrnik, Melkior
dc.date.accessioned2022-03-31T02:10:56Z
dc.date.available2022-03-31T02:10:56Z
dc.date.issued2022-02-23
dc.identifier.urihttp://hdl.handle.net/1853/66355
dc.descriptionPresented on February 23, 2022 from 12:15 p.m.-1:15 p.m. in the Klaus Advanced Computing Building, Room 1116, Georgia Institute of Technology, Atlanta, GA.en_US
dc.descriptionMelkior Ornik is with the University of Illinois at Urbana-Champaign, Department of Aerospace Engineering.en_US
dc.descriptionRuntime: 50:54 minutesen_US
dc.description.abstractThe ability of a system to correctly respond to a sudden adverse event is critical for high-level autonomy in complex, changing, or remote environments. By assuming continuing structural knowledge about the system, classical methods of adaptive or robust control largely attempt to design control laws which enable the system to complete its original task even after an adverse event. However, catastrophic events such as physical system damage may simply render the original task impossible to complete. In that case, design of any control law that attempts to complete the task is doomed to be unsuccessful. Instead, the system should recognize the task as impossible to complete, propose an alternative that is certifiably completable given the current knowledge, and formulate a control law that drives the system to complete this new task. To do so, in this talk I will present the emergent twin frameworks of quantitative resilience and guaranteed reachability. Combining methods of optimal control, online learning, and reachability analysis, these frameworks first compute a set of temporal tasks completable by all systems consistent with the current partial knowledge, possibly within a time budget. These tasks can then be pursued by online learning and adaptation methods. The talk will consider three scenarios: actuator degradation, loss of control authority, and structural change in system dynamics, and will briefly present several applications to maritime and aerial vehicles as well as opinion dynamics. Finally, I will identify promising future directions of research, including real-time safety-assured mission planning, resilience of networks, and perception-based task assignment.en_US
dc.format.extent50:54 minutes
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.relation.ispartofseriesIRIM Seminar Series ;
dc.subjectAutonomyen_US
dc.subjectResilienceen_US
dc.subjectControl theoryen_US
dc.titleResilience of Autonomous Systems: A Step Beyond Adaptationen_US
dc.typeLectureen_US
dc.typeVideoen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameUniversity of Illinois at Urbana-Champaign. Department of Aerospace Engineeringen_US


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  • IRIM Seminar Series [121]
    Each semester a core seminar series is announced featuring guest speakers from around the world and from varying backgrounds in robotics.

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