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Some results in optimal control of mobile robots

Andrea Cristofaro
Data dell'evento: 
Giovedì, 30 May, 2019 - 12:00
Aula A3 - DIAG

Il dottor Andrea Cristofaro, vincitore della procedura selettiva RTD-B a n. 1 posto presso il Dipartimento di Ingegneria Informatica, Automatica e Gestionale "A. Ruberti", SC 09/G1, SSD ING-INF/04 - codice concorso 2018RTDB014, i cui atti sono stati approvati con Decreto Rettorale n. 1620/2019 del 24.05.2019, terrà presso questo dipartimento un seminario sulle attività di ricerca da lui svolte e in corso di svolgimento, come previsto dagli adempimenti richiesti per la chiamata da parte del Consiglio di dipartimento. Il seminario avrà luogo giovedì 30 Maggio 2019, alle ore 12:00 in Aula A3, DIAG, via Ariosto 25.


In this talk I will present an overview of my research activity in the field of optimal control applied to mobile robots. After introducing the general setup of optimal control, I will focus on the problem of optimal motion planning, that is finding the best trajectories according to a given cost criterion such as minimizing time or energy consumption. The structure of the problem becomes particularly rich and interesting when state constraints are considered. In this regard, the second part of the talk will be devoted to the problem of optimal motion planning for robots with vision constraints, which is highly relevant in connection with visual-servoing tasks. In particular, I will present some results on the synthesis of shortest and time-optimal paths for a differential-drive robot equipped with a camera with limited field-of-view. An overview of on-going research activities and future developments will conclude the talk.


Dr. Andrea Cristofaro has received the M.Sc. in Mathematics from Sapienza University of Rome in 2005 and the PhD in Information Science and Complex Systems from University of Camerino in 2010. Between 2010 and 2015 he was first a post-doctoral fellow with eMotion research team, INRIA Rhone-Alpes, Grenoble (France) and then a Marie-Curie post-doctoral fellow with the Department of Engineering Cybernetics, Norwegian University of Science, Trondheim (Norway). From February 2016 to August 2018 he was Assistant Professor (RTD-A) in System and Control Theory at the School of Science and Technology, University of Camerino. In September 2018 he was appointed Associate Professor in Cybernetics at the Department of Technology Systems, University of Oslo (Norway). His research interests include: constrained and robust control, optimal control, estimation, control allocation, autonomous vehicles, control of partial differential equations, hybrid systems. Dr. Cristofaro is author of more than 80 scientific papers, and he is in the Editorial Board of IET Journal of Engineering and of International Journal of Control, Automation and Systems. In December 2018, he received the "Abilitazione Scientifica Nazionale" (ASN) in the scientific sector ING-INF/04.
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