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SUMMARY:Convex relaxation techniques and model predictive control for auto
 nomous driving of heavy trucks
DTSTART:20170316T101500
DTEND:20170316T111500
DTSTAMP:20260410T034206Z
UID:de219057671a51a586b36c03b0a16bf23bf8abd7d2ebb1d9a667fa26
CATEGORIES:Conferences - Seminars
DESCRIPTION:Bo Wahlberg\, KTH Royal Institute of Technology\, Sweden\nBio:
  I have been a professor in Automatic Control at KTH since 1991. I have be
 en an IEEE Fellow since 2007 for my contribution to system identification 
 using orthonormal basis functions. My main research interest is in modelli
 ng and estimation with applications in system identification\, sensor base
 d systems\, and industrial systems. For more details see my CV \, the DiVA
  publication data base or Google Scholar\nMany problems of interest in sys
 tems and control can be formulated in the framework of convex optimization
  by using convex relaxation techniques. A well-known example is the use of
  the l_1-norm as a substitute for the so-called l_0-norm in order to enhan
 ce sparseness in a parameter vector. We will discuss how to  use the l_1-
  norm\, with extensions\, to handle piecewise constant or linear constrain
 ts. This technique is used in mean and trend filtering for change point de
 tection.  We will apply this approach to model predictive control of self
 -driving heavy trucks.  The control objective is based on the minimizatio
 n of the second and first spatial derivatives of the curvature.  We ensur
 e good path tracking accuracy by adding constraints that avoid deviations 
 from the reference path. This leads to smooth and accurate driving. We wil
 l also apply this concept to optimal speed profiles for given vehicle limi
 tations and road constraints. The algorithms are implemented and evaluated
  on a Scania construction truck.\n \nBio: Bo Wahlberg received the M.Sc. 
 degree in Electrical Engineering in 1983 and the Ph.D. degree in 1987 from
  Linköping University\, Sweden. He was a post-doc at University of Newcas
 tle\, Australia\, in 1988. In December 1991\, he became Professor of the C
 hair of Automatic Control at KTH Royal Institute of Technology\, Stockholm
 \, Sweden. He was a visiting professor at the Department of Electrical Eng
 ineering\, Stanford University\, USA\, August 1997 - July 1998 and August 
 2009 -June 2010\, and vice president of KTH 1999 - 2001. He is a Fellow of
  the IEEE for his contributions to system identification using orthonormal
  basis functions.\nBo Wahlberg is a co-founder of Centre of Autonomous Sys
 tems and the Linnaeus Center ACCESS on networked systems at KTH. He is the
  KTH director for the Wallenberg Autonomous Systems Program (WASP) \, that
  recently was granted over 200 million USD over ten years for research int
 o autonomous systems and software development. His research interests incl
 ude system identification\, modeling and control of industrial processes\,
  and statistical  signal processing with applications in smart transporta
 tion systems.
LOCATION:ME C2 405
STATUS:CONFIRMED
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