B58, room 1025
Speaker: Richard T.O’Brien Jr., Department of Robotics and Control Engineering, the United States Naval Academy in Annapolis, MD, USA
Title: Fault detection, identification, and exclusion in a multi-robot, multi-target search and rescue scenario using parallel unscented kalman filters
Abstract:
A fault detection, identification, and exclusion algorithm is proposed that employs an array of parallel unscented Kalman filters and is scalable on the number of agents, targets, and the threshold for fault tolerance. The algorithm maintains fault-free estimates if the number of faults does not exceed the presumed threshold. The algorithm is investigated using a simulation of a multi-robot search and rescue scenario.
Bio:
Richard T. O’Brien Jr. is a full professor in the Department of Robotics and Control Engineering at the United States Naval Academy in Annapolis, MD, USA. He has been with the department since August 1997 and has served in a variety of administrative roles including the Associate Dean of Engineering from 2014-2020. He received his Bachelors of Science in Engineering from Brown University in 1991 and his Master of Science in Engineering and Ph. D. in Electrical and Computer Engineering from The Johns Hopkins University in 1994 and 1998, respectively. His research interests include control system and estimator design with emphasis on optimal control methods and with applications to biomedical, directed energy, and autonomous search and rescue applications.