ECE Seminar - Learning-based Motion Planning and Control for Unmanned Systems
Supporting the below United Nations Sustainable Development Goals:支持以下聯合國可持續發展目標：支持以下联合国可持续发展目标：
Reinforcement learning where the agent learns a policy to optimize a pre-defined reward by interacting with the environment has undergone rapid development and found applications in many areas such as robot navigation and manipulation. In this talk, we focus on inverse reinforcement learning (IRL) where agent learns an appropriate cost function, leading to desired behaviours, based on demonstration data. We introduce a differential dynamic programming (DDP)-based framework for IRL with both open-loop and closed-loop costs and demonstrate that the closed-loop method is better than the open-loop one. We further discuss a learning-based dynamic weight adjustment scheme for robots operating in human-dense environments. The applications of the learning-based framework in UAVs and ground robots will be demonstrated.
Lihua Xie obtained his PhD degree from the University of Newcastle, Australia, in 1992. He is currently President’s Chair with the School of Electrical and Electronic Engineering, Nanyang Technological University and Director, National Research Foundation Center for Advanced Robotics Technology Innovation (CARTIN). He has served as Head of Control and Instrumentation Division and Director of Delta-NTU Corporate Laboratory for Cyber-Physical Systems. His research areas include robust control, multi-agent systems, learning-based control, and unmanned systems. He is currently an Editor-in-Chief of Unmanned Systems and IEEE Control System Magazine. He has served as an Editor of IET Book Series on Control and Associate Editor of IEEE Transactions on Automatic Control, Automatica, IEEE Transactions on Control Systems Technology, IEEE Transactions on Control of Network Systems, etc. He was an IEEE Distinguished Lecturer (2011-2014) and the General Chair of the 62nd IEEE Conference on Decision and Control. He is currently Vice-President of IEEE Control System Society. Professor Xie is Fellow of Academy of Engineering Singapore and Fellow of IEEE, IFAC, and CAA.