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SUMMARY:Adaptive closed loop control: from reflexes to planning - Bernd Po
 rr\, University of Glasgow
DTSTART:20241107T140000Z
DTEND:20241107T150000Z
UID:TALK224200@talks.cam.ac.uk
CONTACT:Fulvio Forni
DESCRIPTION:Closed loop control usually focuses on the control loop itself
 . However\, in this talk I start from the disturbance acting upon the cont
 rol loop which ultimately motivates the control loop. In robotics disturba
 nces are important as they represent a distinct feature in the environment
  the agent needs to act upon for example an obstacle but also a target loc
 ation such as food. Learning to predict these reduces uncertainty and at t
 he same time builds a model of the environment. I'm going to present diffe
 rent adaptive control strategies from ISO\, ICO over CLDL to FCL for behav
 iour based robots and also biped walking. However\, all these encode essen
 tially only one behaviour. In our current research we argue that one can u
 se the concept of disturbances for planning because ultimately they motiva
 te transient control loops. Thus loops with a clearly defined lifetime. Th
 is concept can be used to reason about a situation the robot finds itself 
 in where chains of temporary control loops can solve a planning problem an
 d/or reach a target location in the presence of obstacles. All of the abov
 e have been implemented on real robots.\n\nThe seminar will be held in the
  LR3A \, Department of Engineering\, and online (zoom): https://newnham.zo
 om.us/j/92544958528?pwd=YS9PcGRnbXBOcStBdStNb3E0SHN1UT09
LOCATION:LR3A\, Department of Engineering and online (Zoom)
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