Special Session I
Special Session Title:
Constrained Control and 0ptimization-based Navigation of Autonomous and Robotic Systems
Organizers:
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Sylvain Bertrand, Université Paris-Saclay, France Sylvain Bertrand, PhD, is a Research Director at ONERA, University Paris-Saclay. His research interests concern distributed state estimation and distributed control of multi-agent systems, with applications in aerospace, robotics and sensor networks. He has been in charge of several research partnerships on Unmanned Aerial Vehicles with industry, for inspection and monitoring for maintenance of infrastructures. |
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Ionela Prodan, University Grenoble Alpes, France Ionela Prodan, PhD, is an Associate Professor with the Laboratory of Conception and Integration of Systems, Grenoble INP, Univ. Grenoble Alpes, Valence, France. Her research interests are multi-disciplinary with a core expertise in control and applied mathematics. These encompass constrained optimization-based control (model predictive control via distributed and decentralized approaches), mixed-integer programming, differential flatness, set-theoretic methods, and their application to motion planning for multi-agent robotic systems, energy management in building-scale DC microgrids and process control. |
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Sorin Olaru, Paris-Saclay University, France Sorin Olaru, PhD, is a Full Professor at CentraleSupélec and a member of CNRS-L2S. He has established expertise in control and optimisation, particularly constrained control, set-theoretic methods and fault-tolerant control. Since 2020, he has coordinated the RTE Chair at CentraleSupélec, providing an established interface with industrial challenges in power systems. He maintains international collaborations across Europe, Australia, the Americas and Asia. |
Introduction:
The deployment of autonomous systems in complex environments is subject to different types of constraints, related to the system itself (actuation, physical or mechanical limitations), safety requirements (operational limitations), or environment (obstacle collision avoidance). These constraints become even more complex in multi-agent systems, where agents have to also account for limitations of communications, inter-agent safety, or coupling constraints related to different capabilities or roles among the agents.
Different representations have been proposed in the literature to represent constraints (eg. set representations, barrier functions, etc.) and handle them in control algorithms. A natural approach is for example to include these representations in optimization schemes for control, path planning or decision making.
This special session considers theoretical approaches or practical applications related to these aspects. Topics of interest include (but are not limited to):
- Constraints’ representations and constraints’ handling in control, localization, mapping and path planning,
- Control of constrained mechanical or mechatronics systems,
- Model Predictive Control and optimization based approaches for control and planning in presence of constraints,
- Constrained control of multi-agent systems,
- Robotics applications, multi-robot systems and swarms, safe navigation and mapping in constrained environments.