TALK    On distributed conflict resolution at road intersections

Date & Time:

Wednesday, June 26, 2013; 12:00 PM

Abstract:

In this talk, we consider a scenario where several vehicles have to coordinate among them in order to cross a traffic intersection. Thus, the control problem relies on the optimization of global cost function while guaranteeing collision avoidance and the satisfaction of local constraints. We propose a decentralized solution, where vehicles sequentially solve local optimization problems allowing them to cross, in a safe way, the intersection. Such approach pays a special attention to how quantify the degrees of freedom that each vehicle disposes to avoid a potential collision and lead to an adequate formalism in which collision avoidance is enforced through local state constraints at given time instants. Finally, simulations results on the efficiency, performance and optimality of the proposed approach are presented at the end of the talk.

Speaker:

Gabriel Rodrigues de Campos
Chalmers University

Gabriel Rodrigues de Campos is a postdoctoral research associate, member of the Mechatronics group at Signals and Systems, Chalmers University. In 2007, he received the Bachelor of Science degree in Electrical Engineering from Instituto Superior de Engenharia de Coimbra (Portugal). He joined in 2006 the Erasmus Exchange Program to study at the Universite Reims-Champagne Ardenne (France), where he obtained the Bachelor of Science and a Master of Science in Electrical Engineering (specialized in Automatic Control) in 2007 and 2009, respectively. In 2009, he integrated the Gipsa-Lab, in Grenoble (France), as a PhD candidate on a topic entitled "Agreement strategies for multi-robot systems", under the supervision of Alexandre Seuret and Carlos Canudas de Wit. During this period, he was also a visiting researcher with the Automatic Control Lab at KTH, in Stockholm (Sweden). His research interests focus in networked control systems and particularly in multi-agent systems: mobile robotics, autonomous deployment of agents, sensor averaging and agreement strategies.

External Link:

http://www.gabrieldecampos.com