{"667139":{"#nid":"667139","#data":{"type":"event","title":"PhD Proposal by Manan Gandhi","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003EManan Gandhi\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cbr \/\u003E\r\n\u003Cstrong\u003E(Advisor: Prof. Evangelos Theodorou) will propose a doctoral thesis entitled,\u003Cbr \/\u003E\r\nDecision-Making Architectures for Control of Uncertain Systems\u003Cbr \/\u003E\r\nOn\u003Cbr \/\u003E\r\nWednesday, April 19th at 01:00 p.m.\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EEngineering, Science, and Mechanics Building 108\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cbr \/\u003E\r\n\u003Cstrong\u003EAbstract\u003Cbr \/\u003E\r\nFrom aggressive driving, to drone racing, to cardiovascular control, each of these problems\u0026nbsp;\u003Cbr \/\u003E\r\ninvolves uncertain dynamics and a requirement to make decisions. There are classical and modern\u0026nbsp;\u003Cbr \/\u003E\r\ntechniques for controlling dynamical systems which can favor safety, exploration, control\u0026nbsp;\u003Cbr \/\u003E\r\nperformance, or other criteria. Information Theoretic Model Predictive Control (IF-MPC) has been\u0026nbsp;\u003Cbr \/\u003E\r\nutilized to significant effect for autonomous racing by optimizing the system free energy through\u0026nbsp;\u003Cbr \/\u003E\r\nforward sampling. This dissertation explores the ideas of incorporating safety directly into\u0026nbsp;\u003Cbr \/\u003E\r\nimportance sampling for the control of uncertain systems. The underpinnings of Model Predictive\u0026nbsp;\u003Cbr \/\u003E\r\nPath Integral control are presented with its connections to both Information Theory and Bayesian\u0026nbsp;\u003Cbr \/\u003E\r\ninference. Current research on model learning for biological systems is presented with the aim of\u0026nbsp;\u003Cbr \/\u003E\r\nusing more advanced control techniques. The core of the thesis is the development of a framework to\u0026nbsp;\u003Cbr \/\u003E\r\nperform safe model predictive control of stochastic dynamical systems while taking advantage of\u0026nbsp;\u003Cbr \/\u003E\r\ntraditional control techniques to make decisions during operation. In the development of this novel\u0026nbsp;\u003Cbr \/\u003E\r\nframework, the foundation of modern, safe control is presented, along with state-of-the-art\u0026nbsp;\u003Cbr \/\u003E\r\ndevelopments to enable safe control with fewer theoretical and computational restrictions. This\u0026nbsp;\u003Cbr \/\u003E\r\nwork builds upon the idea of augmented importance sampling in IF-MPC to handle robustness, safety,\u0026nbsp;\u003Cbr \/\u003E\r\nand uncertainty in a general system. The control architecture presented here can handle both soft\u0026nbsp;\u003Cbr \/\u003E\r\nand hard constraints on the state of a dynamical system, as well as balance task completion with\u0026nbsp;\u003Cbr \/\u003E\r\nthe notion of safety.\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cbr \/\u003E\r\n\u003Cstrong\u003ECommittee\u003Cbr \/\u003E\r\n\u25cf Prof. Evangelos Theodorou \u2013 School of Aerospace Engineering (advisor)\u003Cbr \/\u003E\r\n\u25cf \u0026nbsp;Prof. Wassim Haddad \u2013 School of Aerospace Engineering\u003Cbr \/\u003E\r\n\u25cf \u0026nbsp;Prof. Jonathan Rogers\u2013 School of Aerospace Engineering\u003Cbr \/\u003E\r\n\u25cf \u0026nbsp;Prof. Naira Hovakimyan\u2013 School of Mechanical Science and Engineering, University of Illinois at\u0026nbsp;\u003Cbr \/\u003E\r\nUrbana-Champaign\u003Cbr \/\u003E\r\n\u25cf \u0026nbsp;David Kozlowski \u2013 Distinguished Member of Technical Staff, Sandia National Laboratories\u003Cbr \/\u003E\r\n\u25cf \u0026nbsp;Dr. Demetri Yannopoulos \u2013 Department of Medicine Cardiovascular Division, University of\u0026nbsp;\u003Cbr \/\u003E\r\nMinnesota\u003C\/strong\u003E\u003Cbr \/\u003E\r\n\u0026nbsp;\u003C\/p\u003E\r\n","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003ESee abstract\u003C\/p\u003E\r\n","format":"limited_html"}],"field_summary_sentence":[{"value":"Decision-Making Architectures for Control of Uncertain Systems"}],"uid":"27707","created_gmt":"2023-04-06 17:03:26","changed_gmt":"2023-04-17 15:46:16","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2023-04-19T13:00:54-04:00","event_time_end":"2023-04-19T15:00:54-04:00","event_time_end_last":"2023-04-19T15:00:54-04:00","gmt_time_start":"2023-04-19 17:00:54","gmt_time_end":"2023-04-19 19:00:54","gmt_time_end_last":"2023-04-19 19:00:54","rrule":null,"timezone":"America\/New_York"},"location":"Engineering, Science, and Mechanics Building 108","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78761","name":"Faculty\/Staff"},{"id":"78771","name":"Public"},{"id":"174045","name":"Graduate students"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}