Joint CS/RA/SMC Chapter Technical Meeting: Least Restrictive Safe Control of Multiple Vehicles at Road Intersections
Speaker: Dr. Heejin Ahn, Postdoctoral Research Fellow, UBC
Title: Least Restrictive Safe Control of Multiple Vehicles at Road Intersections
Abstract: In safety-critical dynamical systems, such as vehicles and medical robots, the failure may result in loss of life, significant property damage, or environmental harm. I will present the design of a controller that guarantees safety of such systems, with a particular focus on vehicle coordination at road intersections. The controller monitors the dynamical state of vehicles and the current input of drivers, and overrides them if necessary to prevent a collision. The main challenge is to check if the current drivers’ input will cause an unavoidable future collision, in which case the controller must intervene to prevent the collision. This problem, called safety verification, is known to be computationally intractable for general dynamical systems. My approach to solving the safety verification problem is to translate it to a computationally more tractable scheduling problem. I will present the validation of the controller through mathematical proofs, computer simulations, and hardware experiments using laboratory-scale robots. Also, I will discuss the application of this method to other cyber-physical systems, such as autonomous driving, warehouse automation, and medical robots.
Date and Time
Location
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- Date: 29 Jan 2020
- Time: 02:30 PM to 03:30 PM
- All times are (GMT-08:00) Canada/Pacific
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- 2332 Main Mall, UBC
- Vancouver, British Columbia
- Canada
- Building: McLeod
- Room Number: 418
Speakers
Dr. Heejin Ahn of UBC
Biography:
Heejin Ahn received the B.S. degree in mechanical and aerospace engineering from Seoul National University, Seoul, South Korea, in 2012, and the S.M. and Ph.D. degrees in mechanical engineering from the Massachusetts Institute of Technology, Cambridge, MA, USA, in 2014 and 2018, respectively. She was with Mitsubishi Electric Research Laboratories, Cambridge, MA, USA, as a Visiting Research Scientist from 2018 for two years. She is currently a Postdoctoral Research Fellow with the Department of Electrical and Computer Engineering and the Department of Computer Science at the University of British Colombia, Vancouver, BC, Canada. Her research interests include the analysis and control of hybrid dynamical systems for transportation and biomedical applications.