时间：2017年7月24日下午3点
地点：新主楼E1104
讲座题目：Integrative Cooperative Relative Localization and Control of Multi-UAV Systems
讲座内容：
In the near future, we can expect autonomous micro aerial vehicles (MAVs) to engage in many critical operations including reconnaissance, search-and-rescue, environmental monitoring, security surveillance, inspection, law enforcement, etc. Due to their aerial manoeuvring ability, these robots can easily avoid obstacles, explore a given area and create a map, and monitor activities in the area. They can operate in spatially restricted outdoor and indoor environments, e.g., forests or urban environments, while still maintain the lowest disturbance to environment and the inhabitants within. However, to achieve full autonomy in such densely obstructed environments UAVs must be able to fly at low altitude, navigate indoors where GPS signals are often shadowed, and to actively explore unknown environments and create maps while avoid collision. In these scenarios, today’s systems that navigate using solely GPS information are no longer sufficient. In this talk, we shall discuss positioning technologies in GPS denied environments for micro UAVs. Special emphasis will be given to distance based cooperative relative localization and swarming. A consensus based integrated cooperative localization and control approach will be developed. Simulations and experiments will be provided to illustrate the developed theory.
Lihua Xie 个人简介
Lihua Xiereceived the B.E. and M.E. degrees in electrical engineering from Nanjing University of Science and Technology in 1983 and 1986, respectively, and the Ph.D. degree in electrical engineering from the University of Newcastle, Australia, in 1992. He was with the Department of Automatic Control, Nanjing University of Science and Technology from 1986 to 1989. Since 1992, he has been with the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, where he is currently a professor and the Director, Delta-NTU Corporate Lab for Cyber-Physical Systems.He served as the Head of Division of Control and Instrumentation from July 2011 to June 2014, and the Director, Centre for E-City from July 2011 to June 2013.
His current research interests include networked control, multi-agent systems, sensor networks, compressive sensing, localization, and unmanned systems. He has authored/co-authored 8 books, over 320 journal papers, and 4 patents. He was listed as a highly cited researcher by Thomson Reuters in 2014, 2015 and 2016. He is currently an Editor-in-Chief of Unmanned Systems and Associate Editor, IEEE Transactions on Network Control Systems. He has served as Editor for IET Book Series in Control and Associate Editor for Automatica, IEEE Transactions on Automatic Control, IEEE Transactions on Control Systems Technology, IEEE Transactions on Circuit and Systems-II, etc. Dr Xie is Fellow of IEEE, Fellow of IFAC, and an elected member of the Board of Governors of IEEE Control System Society (2016-2018).
