Image-based teleoperation of semi-autonomous robotic vehicles. This project will contribute strongly to Australia's robotic service industry in the development of semi-autonomous robotic inspection vehicles by; developing core technology in image-based teleoperation, training experts in the area, promoting the study of this topic within the Australian academia, and developing test facilities and prototype vehicles. Robotic inspection vehicles have the potential to replace direct human presence i ....Image-based teleoperation of semi-autonomous robotic vehicles. This project will contribute strongly to Australia's robotic service industry in the development of semi-autonomous robotic inspection vehicles by; developing core technology in image-based teleoperation, training experts in the area, promoting the study of this topic within the Australian academia, and developing test facilities and prototype vehicles. Robotic inspection vehicles have the potential to replace direct human presence in difficult, dangerous or simply uncomfortable inspection tasks such as; inspection of industrial pressure vessels, piping and conduits in factories or mines, undersea cabling, inspection of bridges, dams and other large scale civil buildings, amongst many other possibilities.Read moreRead less
Safe Adaptive Control. Adaptive controllers are intelligent controllers, which can redesign themselves as they learn more about the environment. There are many algorithms for adaptive controllers; some of them can cause unacceptable behaviour during the learning process. Safe adaptive controllers are those for which this behaviour is ruled out. This project is concerned with developing procedures for guaranteeing the safety property in a wide variety of situations.
Foundations of Vision Based Control of Robotic Vehicles. Automated and partially automated robotic vehicles are an emerging technology in society. The safety and performance of such systems depends crucially on their sensing and control algorithms. Vision sensing is one of the few sensor modalities that has the potential to adequately represent the complexity of a real world environment. By providing simple and effective vision based control algorithms this project develops Frontier Technologi ....Foundations of Vision Based Control of Robotic Vehicles. Automated and partially automated robotic vehicles are an emerging technology in society. The safety and performance of such systems depends crucially on their sensing and control algorithms. Vision sensing is one of the few sensor modalities that has the potential to adequately represent the complexity of a real world environment. By providing simple and effective vision based control algorithms this project develops Frontier Technologies for Building and Transforming Australian Industries by enabling a wide range of robotic vehicle applications, including aerial, submersible, and wheeled vehicles.Read moreRead less
Numerical Algorithms for Solving Convex Optimization Problems Arising in Systems and Control Theory. The need to optimize occurs frequently in engineering applications. Typically one has a set of constraints specifying what solutions are allowable or meet design specifications and one would like to choose from these allowable solutions one which is optimal with respect to some meaningful metric. Such optimization problems tend to be rather complicated and must be solved numerically. This project ....Numerical Algorithms for Solving Convex Optimization Problems Arising in Systems and Control Theory. The need to optimize occurs frequently in engineering applications. Typically one has a set of constraints specifying what solutions are allowable or meet design specifications and one would like to choose from these allowable solutions one which is optimal with respect to some meaningful metric. Such optimization problems tend to be rather complicated and must be solved numerically. This project is concerned with creating improved numerical algorithms for solving particular important classes of optimization problems that arise in systems and control theory.Read moreRead less
Mathematical, logical and computational foundations of hybrid control systems, and their application to design and synthesis problems in control engineering. Hybrid control systems are mathematical models of heterogeneous systems consisting of digital computer components interacting in real-time with continuous physical processes. Their many engineering applications include air traffic control, medical technology and automated transport. Motivated by such safety-critical and high-confidence appl ....Mathematical, logical and computational foundations of hybrid control systems, and their application to design and synthesis problems in control engineering. Hybrid control systems are mathematical models of heterogeneous systems consisting of digital computer components interacting in real-time with continuous physical processes. Their many engineering applications include air traffic control, medical technology and automated transport. Motivated by such safety-critical and high-confidence applications, the project aims to develop a unified framework of mathematical logics adequate to formally represent and reason about the structure, behaviour, and properties of hybrid control systems, and use this to develop methodologies for automatically synthesising hybrid control programs that are provably correct with respect to their specifications. Other outcomes include prototype software implementations of hybrid controller design tools.Read moreRead less
Development of robust adaptive and nonlinear control methodologies. Techniques will be developed that will allow industrial plants to operate with lower direct or environmental cost, and airborne vehicles to operate more efficiently or more safely.