Keynote 1: Safe Coordination of Autonomous Vehicles
This talk will present some recent results regarding the safe coordination of autonomous vehicles.
In particular, the talk will show how by means of the LPV approach the modelling of autonomous vehicles (including both kinematic and dynamic equations) can be addressed both from a physical perspective and by using data-based learning techniques.
Then, using the LPV representation of the vehicle, efficient planning and control implementation based on MPC and LMIs will be presented. The inclusion of uncertainty in the modelling using sets (zonotopes) will also be illustrated.
Finally, the extension of the proposed approaches to deal with learning-based algorithms that allow to estimate the vehicle model (dynamic part) from data is presented. The algorithms will be illustrated using high-fidelity simulators and small scale/real size vehicles.
Prof. Vicenç Puig
Polytechnic University of Catalunya – Spain
Vicenç Puig received the telecommunications engineering degree in 1993 and the Ph.D. degree in Automatic Control, Vision, and Robotics in 1999, both from Universitat Politècnica de Catalunya (UPC). He is Full Professor of the Automatic Control Department and a Researcher at the Institut de Robòtica i Informàtica Industrial, both from the UPC. He is currently the Director of the Automatic Control Department and Head of the Research Group in Advanced Control Systems at UPC.
He has developed important scientific contributions in the areas of fault diagnosis and fault tolerant control using interval and linear-parameter-varying models using set-based approaches. He has participated/leaded more than 20 European and national research projects in the last decade. He has also led many private contracts with several companies and has published more than 120 journal articles and more than 450 in international conference/ workshop proceedings.
He has supervised over 20 Ph.D. dissertations and over 40 master’s theses/final projects. He is currently the chair of the IFAC Safeprocess TC Committee 6.4 (2020-until now) and was the vice chair (2014–2017). He has been the general chair of the Third IEEE Conference on Control and Fault-Tolerant Systems (Systol 2016 and 2021) and the IPC chair of the IFAC Safeprocess 2018.