Charles A. Desoer Chair and Professor of EECS
Electrical Engineering Division
University of California at Berkeley
Talk Title: Verification and Control of Hybrid Systems using Reachability Analysis with Machine Learning
This talk will present reachability analysis as a tool for model checking and controller synthesis for dynamic systems. We will consider the problem of guaranteeing reachability to a given desired subset of the state space while satisfying a safety property defined in terms of state constraints. We allow for nonlinear and hybrid dynamics, and possibly nonconvex state constraints. We use these results to synthesize controllers that ensure safety and reachability properties under bounded model disturbances that vary continuously. The resulting control policy is a set-valued feedback map involving both a selection of continuous inputs and discrete switching commands as a function of system state. We show that new control policies based on machine learning are included in this map, resulting in high performance with guarantees of safety. We discuss real-time implementations of this, and present several examples from multiple aerial vehicle control, human-robot interaction, and multiple player games.
Claire Tomlin’s research is in the area of hybrid systems and control, with applications to air traffic systems, robotics, and biology. She has been honoured with the Erlander Professorship of the Swedish Research Council in 2009, a MacArthur Fellowship in 2006, and the Eckman Award of the American Automatic Control Council in 2003. Prof. Tomlin previously held the positions of Assistant, Associate, and Full Professor at Stanford University from 1998-2007, joining Berkeley in 2005
.This lecture is open to the public. Space is limited and there is no
registration; coming early is strongly recommended. For more
information, contact the department
or at 416-978-3619.