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SUMMARY:Control of Uncertainty or Control with Uncertainty? A New Control 
 Design Paradigm for Autonomous Stochastic Systems - Panagiotis Tsiotras\, 
 Georgia Tech 
DTSTART:20240305T141500Z
DTEND:20240305T151500Z
UID:TALK212929@talks.cam.ac.uk
CONTACT:Fulvio Forni
DESCRIPTION:Uncertainty propagation and mitigation is at the core of all r
 obotic and control systems. The standard approach so far has followed the 
 spirit of control of a system “with uncertainties\,” as opposed to dir
 ect control “of uncertainties.” Recent advances from the controllabili
 ty of higher order moments of the distribution of the state trajectories p
 rovide us with a new tool to control stochastic systems with strict perfor
 mance guarantees. In this talk I will review some recent results on covari
 ance and distribution control for discrete stochastic systems\, subject to
  probabilistic (chance) constraints\, and will demonstrate the application
  of the approach on control and robot motion planning problems under uncer
 tainty. The resulting theory has close connections to the classical Optima
 l Mass Transport (OMT) problem and is numerically efficient (often resulti
 ng in a convex program). I will also discuss some current trends and poten
 tial directions for future work.\n\nThe seminar will be held in the Board 
 Room\, Baker Building\, Department of Engineering\, and online (zoom): htt
 ps://newnham.zoom.us/j/92544958528?pwd=YS9PcGRnbXBOcStBdStNb3E0SHN1UT09
LOCATION:Board Room\, Baker Building\, Department of Engineering and onlin
 e (Zoom)
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