AASS Seminar - Toward the development of a Simultaneous Localization, Mapping and Control system
10 November 2022 13:00 Hörsal T, Teknikhuset
For more information about the AASS Seminar Series, please contact:
Alessandro Saffiotti
The research centre AASS arranges a seminar with Barbara Bazzana, Univ La Sapienza, Rome.
Abstract
Factor graphs are very powerful tools in robotics, used to model a great variety of problems. Solving a graph means finding the configuration of the vertices which is maximally consistent with the relationships expressed by the edges. Motivated by their use in SLAM, very efficient solvers were developed. In my research, I am working on applications of factor graphs in the fields of optimal control and autonomous exploration. In this presentation, I am giving an insightful introduction on factor graphs, showing applications ranging from traditional simple examples to progress in my research so far and plans for my exchange period at Örebro University. As research results, I am presenting: (i) an Augmented Lagrangian-version of factor graphs, and its application to factor graph-MPC, (ii) a novel heuristics for factor graph-based autonomous exploration.
Bio
Barbara Bazzana received the bachelor's degree in electronic engineering and the master's degree in control engineering, respectively in 2018 and 2020, from Sapienza University of Rome, Italy, where she is currently working toward the Ph.D. degree in Engineering in Computer Science. Her research interests focus on extensions of factor graph-optimization for optimal control and autonomous exploration.