[robotics-worldwide] [Meetings] Call for Contributions: RSS 2014 Workshop on Distributed Control and Estimation for Robotic Vehicle Networks

Nisar Ahmed Nisar.Ahmed at Colorado.EDU
Wed Mar 26 00:29:13 PDT 2014

We are pleased to invite contributions for the 2014 RSS Workshop on Distributed Control and Estimation for Robotic Vehicle Networks, to be held at the University of California Berkeley on July 12, 2014.



Other links: www.roboticsconference.org  (RSS website)

************ DESCRIPTION ************
Applications for autonomous multi-vehicle networks have grown significantly in recent years, and have stimulated research on distributed strategies for optimal/robust cooperative autonomy in multi-vehicle systems. Ideally, distributed approaches not only perform as well as centralized methods, but also lead to better scalability, naturally parallelized computation, and resilience to communication loss and hardware failures. In practice, it is usually convenient to assume that distributed control and distributed estimation problems can be treated separately. While state-of-the-art techniques for distributed planning (e.g. graph-based trajectory generation, consensus-/graph-based task allocation) and perception (e.g. multi-robot SLAM/SAM, Bayesian/consensus sensor fusion for cooperative tracking) can be combined with good results, the assumed “separation principle” is heuristic and leaves open many questions: how should off-the-shelf solutions for different parts of the same problem be jointly selected or modified to work best together, and what guarantees (if any) are there for optimal/robust behavior? Alternative integrated approaches have also emerged for multi-vehicle systems (e.g. distributed optimization, model predictive control, reinforcement learning), which formally capture and exploit subtle yet important dynamic linkages between the control and estimation problems. However, these approaches raise their own questions: are the assumptions/approximations required for analytical and computational tractability reasonable for general applications, and how can state-of-the-art planning/perception methods for individual mobile robots be leveraged?

This workshop will bring together control/planning and estimation/perception specialists from the robotics and controls communities who are interested in autonomous multi-vehicle networks to: (i) discuss these and other related research questions; (ii) promote new ideas for unifying distributed control and estimation, while improving awareness of state-of-the-art techniques; and (iii) foster interactions for developing theoretical ideas and practical applications.

In addition to attending invited talks by top experts in the field and interacting with them via Q&A panel discussions, workshop participants will have the opportunity to submit extended abstracts for select presentation at the workshop poster spotlight talks and interactive poster session (following single-blind peer review). Successful poster abstract submissions will also be invited to submit their work to a future special issue of IEEE Control Systems Magazine (to be arranged by the workshop organizers).Please check the workshop website for workshop schedule and format details.

-Jonathan How, MIT: Topic TBD

-Gaurav Sukhatme, University of Southern California: "Exploring the Ocean with Robots: Is Communication the Challenge?"

-Solmaz Kia, University of California San Diego: Topic TBD

-Stergios Roumeliotis, University of Minnesota: "Distributed 3D Localization and Mapping Using Mobile Devices"

-Jay Farrell, University of California Riverside: "Distributed Camera Control for Opportunistic Visual Sensing"

-Silvia Ferrari, Duke University: "Distributed Optimal Control for Target Tracking"

-Mark Campbell, Cornell University: Topic TBD

************ SUBMISSION INSTRUCTIONS ************
We invite all interested participants to submit extended 2-4 page abstracts describing new/ongoing work. Submissions should be in .pdf format using the RSS paper template (see links for LaTeX and Word templates below):
*The best submissions will be selected for poster presentation during the workshop following a single-blind review process (so please include all author names and affiliations). Final instructions for poster presentations and spotlight talks will be posted on the workshop website, after decision notifications have been made.

*Successful submissions will also be invited to submit their work to a future special issue of IEEE Control Systems Magazine (to be arranged by the workshop organizers). 
Please e-mail .pdf file of 2-4 page extended poster abstracts to rssdceworkshop2014 at gmail.com with subject line “RSS DCE Workshop Submission”.

-LaTeX template: http://roboticsconference.org/paper-template-latex.tar.gz

-Word template: http://roboticsconference.org/paper-template-word.zip

For any questions or clarifications, please contact the organizing committee. 

******* REPRESENTATIVE TOPICS OF INTEREST INCLUDE (but are not limited to): *******

*optimal/robust multi-robot planning, task assignment, navigation, guidance, and/or control 

*optimal/robust multi-robot perception, mapping, learning, scene understanding, and/or object search/tracking 

*control and estimation under ad hoc/constrained/unknown communication topologies 

*emerging approaches for unified control and estimation (information theoretic methods, learning-based, etc.) 

*networked algorithmic solutions that combine joint estimation and control

*distributed model predictive control

*decentralized model-based/Bayesian estimation and learning

*distributed optimization for networked robotic vehicle control and estimation

*characterization of performance gaps and trade-offs between centralized and distributed algorithms

*analysis and algorithms for understanding and coping with uncertainties in networked robotic vehicle systems

*novel distributed control and estimation strategies and applications for networks of aerial, space, ground, or aquatic robots

*control and estimation of heterogeneous vehicle systems (e.g. mixtures of unmanned ground/air/aquatic robots, marsupial systems, etc.)

*distributed control and estimation for long-term/life-long autonomy in robotic vehicle networks

************ IMPORTANT DATES ************

-April 1, 2014: submission period open for extended abstracts 

-May 15, 2014: submission deadline
(e-mail .pdf of extended abstracts to rssdceworkshop2014 at gmail.com)

-June 1, 2014: decision notification

-June 15, 2014: final materials due (instructions will be e-mailed and posted after acceptance)

-July 12, 2014: workshop at Robotics: Science and Systems X Conference 2014, UC Berkeley, California, USA

Final workshop schedule will be posted to: https://sites.google.com/site/rss2014dceworkshop/workshop-schedule

************ ORGANIZING COMMITTEE************

-Nisar Ahmed, Department of Aerospace Engineering Sciences, University of Colorado Boulder (nisar.ahmed at colorado.edu) 

-Sonia Martinez, Department of Mechanical and Aerospace Engineering, University of California San Diego (soniamd at ucsd.edu)

-Jorge Cortes, Department of Mechanical and Aerospace Engineering, University of California San Diego (cortes at ucsd.edu)

Assistant Professor
Aerospace Engineering Sciences
University of Colorado Boulder

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