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DTSTART:20121028T030000
TZOFFSETFROM:+0200
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RDATE:20131027T030000
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DTSTART:20130331T020000
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UID:calendar.6619.field_data.0@www.u-gov-ricerca.uniroma1.it
DTSTAMP:20260404T184626Z
CREATED:20130502T091513Z
DESCRIPTION:Abstract:State estimation is a fundamental and challenging prob
 lem in many applications involving planning and control\, in particular wh
 en dealing with systems exhibiting a nonlinear dynamics. While the design 
 of nonlinear observers is an active research field\, the issue of actively
  optimizing over time the convergence rate and/or transient behavior of th
 e estimation error has not received\, to the best of our knowledge\, a com
 parable attention. In this talk\, we discuss some recent results in this d
 irection: we show how to characterize and tune the convergence rate/transi
 ent response of a particular class of nonlinear observers stemming from th
 e adaptive control community. This is achieved by suitably acting on both 
 the estimation gains and the inputs applied to the system under observatio
 n (thus\, the 'active' component of the approach). The theory is validated
  by simulation end experimental results on three classical structure from 
 motion (SFM) problems: depth estimation for point feature\, and 3D structu
 re estimation for a planar and a spherical target. The results fully suppo
 rt the theoretical analysis and clearly show the benefits of the proposed 
 active strategy\, which is in particular able to enforce an error estimati
 on dynamics equivalent to that of a reference linear second-order system w
 ith desired poles. Bio: Paolo Robuffo Giordano is a CNRS researcher at IRI
 SA/INRIA in Rennes since December 2012. He received the M.Sc. degree in Co
 mputer Science Engineering and the Ph.D. degree in Systems Engineering fro
 m the Dipartimento di Informatica e Sistemistica\, Università di Roma 'La 
 Sapienza'\, in 2001 and 2008. He was a PostDoc at the Robotics Institute o
 f the German Aerospace Center (DLR) from 2007 to 2008\, and then moved to 
 the Max Planck Institute for Biological Cybernetics in Tübingen\, Germany\
 , as Project Leader of the group Human-Robot Interaction from 2008 to 2012
 . His interests are in the general areas of robotics and nonlinear control
 . In particular\, he has been working on kinematic and dynamical modeling 
 of physical systems\, motion control of fixed and mobile manipulators\, vi
 sual servoing\, nonlinear state estimation\, nonholonomic systems\, contro
 l design for VR applications\, motion simulation technologies\, aerial rob
 otics\, bilateral teleoperation\, and multi-robot systems. Contact: Giusep
 pe Oriolo
DTSTART;TZID=Europe/Paris:20130520T103000
DTEND;TZID=Europe/Paris:20130520T103000
LAST-MODIFIED:20130519T091227Z
LOCATION:Aula Magna DIAG
SUMMARY:Seminar: Paolo Robuffo Giordano\, 'A Framework for Nonlinear Active
  Estimation with Applications to Structure from Motion' - Paolo Robuffo Gi
 ordano\, CNRS\, France
URL;TYPE=URI:http://www.u-gov-ricerca.uniroma1.it/node/6619
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