Optimistic planning for nonlinear control applications
Optimistic planning is a recent approach to the predictive control of nonlinear systems, which optimistically explores the space of action sequences from the current state. Due to generality in the dynamics and objective functions that it can address, it has a wide range of potential applications to problems in nonlinear control.
In this project the student will work either on algorithmic developments in optimistic planning, on their real-time application to nonlinear control, or a combination of the two. The application axis includes real-time results for the control of some nonlinear systems available in our lab, such as the Quanser rotational inverted pendulum, the Cyton Gamma robotic arm, the AR.Drone 2 UAV etc. We will start with existing real-time control implementations of optimistic planning methods for discrete and continuous inputs (the movie below shows some first, existing results).
This project is suitable for students who are motivated and able to invest themselves fully. Complementary skillsets are required, so we are looking both for people who are good at C/C++ and Matlab programming, as well as for people who enjoy more analyical, math challenges. A good command of the English language is essential to have access to the literature.