High-performance Control of Agile Robots
Robust Safe Control
Agile robots are systems capable of operating at their dynamic limits, such as autonomous racing cars, racing drones, etc. The most challenging aspect is that agile robots need to adapt rapidly to changing environments at high speed, which requires real-time, reliable, and high-performance components across the entire autonomy stack, including perception, planning, and control.
Robots are deployed in many safety-critical scenarios, such as human-robot interactions and on extremely expensive robot platforms themselves. Fundamental synthesis tools rooted in control theory are critical for designing provably safe controllers for conventional and (semi-)autonomous robotic systems. We focus on safety-guaranteed control solutions under various uncertainties.