Discrete Geometric Motion Control of Autonomous Vehicles

Website

Where is he NOW? - Assistant Professor, Department of Mechanical Engineering, Laboratory for Computational Sensing and Robotics, John Hopkins University.

"My work has focused on developing computational theory for the dynamics and control of nonlinear mechanical systems. Computation relies on transforming continuous behavior into a finite discrete numerical form and the tools I develop accomplish such a transformation by preserving the structure and motion invariants of the original system. This has lead to novel robust integration schemes and insights into the numerical structure of optimal control. I am employing the computational framework as a basis for developing globally optimal control methods that overcome standard limitations of classical optimal control. The theory is applicable to a variety of systems—from ground robots to formation-flying satellites. A critical issue currently being considered is the proper treatment of sensor noise and dynamics uncertainty—a requirement for making these algorithms successful in practice. Two potential applications of the developed methods, in collaboration with external entities, are motion control of groups of unmanned aerial vehicles and a low Earth orbit (LEO) satellite reconfiguration demonstration (as part of the Large Space Structures study)." (April 2010)

Kobilarov was a finalist for the best paper award in the 2011 Robotics: Science and Systems Conference for his paper entitled "Cross-Entropy Randomized Motion Planning."  Read more... (July 2011)

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Papers

• Postdoctoral Fellowship Final Report (13.2 MB .pdf)

Journal Articles

• Demoures, F., Gay-Balmaz, F., Kobilarov, M., Ratiu, T. S. (2014).  Multisymplectic Lie group variational integrator for a geometrically exact beam in .  Communications in Nonlinear Science and Numerical Simulation .  19(10).  3492 - 3512.
• Kobilarov, M. (2014).  Nonlinear Trajectory Control of Multi-body Aerial Manipulators.  Journal of Intelligent & Robotic Systems.  73(1-4).  679–692.
• Kobilarov, M. (2012).  Cross-entropy Motion Planning.  International Journal of Robotics Research.  31(7).  855–871.
• Jimenez, F., Kobilarov, M., Martin de Diego, David. (2012).  Discrete Variational Optimal Control.  Journal of Nonlinear Science.  1-34.
• Flaßkamp, K., Ober-Blöbaum, S., Kobilarov, M. (2012).  Solving Optimal Control Problems by Exploiting Inherent Dynamical Systems Structures.  Journal of Nonlinear Science.
• Kobilarov, M., Pellegrino, S. (2012).  Trajectory Planning for Cubesat Short Time-Scale Proximity Operations.
• Kobilarov, M., Marsden, J. (2011).  Discrete Geometric Optimal Control on Lie Groups.  IEEE Transactions on Robotics.  27(4).  641-655.
• Kobilarov, M., Marsden, J. E., Sukhatme, G. S. (2011).  Global Estimation in Constrained Environments.  The International Journal of Robotics Research.  31(1).  24–41.
• Banaszuk, A., Fonoberov, V., Frewen, T. A., Kobilarov, M., Mathew, G., I. Mezic, A. P., Sahai, T., Sane, H., Speranzon, A., Surana, A. (2011).  Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems.  accepted, to appear in IFAC Annual Reviews in Control.
• Kobilarov, M., Marsden, J. (2011).  Discrete Geometric Optimal Control on Lie Groups.  Robotics, IEEE Transactions on.  27(4).  641-655.
• Kobilarov, M., Marsden, J. E., Sukhatme, G. S. (2010).  Geometric discretization of nonholonomic systems with symmetries.  AIMS Journal on Discrete and Continuous Dynamical Systems - Series S (DCDS-S).  3(1).  61 - 84.
• Kobilarov, M., Martín de Diego, D., Ferraro, S. (2010).  Simulating Nonholonomic Dynamics.  Boletin de la Sociedad Espanola de Matimatica Aplicada (SeMA).  50.  61-81.
• Kobilarov, M., Crane, K., Desbrun, M. (2009).  Lie group integrators for animation and control of vehicles.  ACM Trans. Graph..  28(2).  1–14.

Book Chapters

• Kobilarov, M. (2013).  Solvability of Geometric Integrators for Multi-body Systems.  Multibody Dynamics: Computational Methods and Applications.

Other Publications

• Garimella, G., Kobilarov, M. (2015).  Towards Model-predictive Control for Aerial Pick-and-Place.

Conference Proceedings

• Ta, D., Kobilarov, M., Dellaert, F. (2014).  A factor graph approach to estimation and model predictive control on Unmanned Aerial Vehicles.  Unmanned Aircraft Systems (ICUAS), 2014 International Conference on.  181-188.
• Mishra, S., Kobilarov, M. (2014).  An Autonomous Proximity Navigation Testbed for Nanosatellites.  Small Satellite Conference.
• Kobilarov, M. (2014).  Discrete optimal control on Lie groups and applications to robotic vehicles.  IEEE International Conference on Robotics and Automation.  5523-5529.
• Chirikjian, G., Kobilarov, M. (2014).  Gaussian Approximation of Non-linear Measurement Models on Lie Groups.  53rd IEEE Conference on Decision and Control.  6401–6407.
• Kobilarov, M. (2013).  Trajectory Control of a Class of Articulated Aerial Robots.  International Conference on Unmanned Aircraft Systems.
• Kobilarov, M. (2013).  Trajectory tracking of a class of underactuated systems with external disturbances.  American Control Conference.  1044–1049.
• Frewen, T. A., Sane, H., Kobilarov, M., Bajekal, S., Chevva, K. R. (2011).  Adaptive Path Planning in a Dynamic Environment using a Receding Horizon Probabilistic Roadmap: Experimental Demonstration.  AHS Specialists’ Meeting on Unmanned Rotorcraft.
• Nair, S., Kobilarov, M. (2011).  Collision Avoidance Norms In Trajectory Planning.  American Control Conference.
• Kobilarov, M. (2011).  Cross-Entropy Randomized Motion Planning.  Proceedings of Robotics: Science and Systems.
• Marin Kobilarov, Mathieu Desbrun, Jerrold Marsden,., Sukhatme, G. (2007).  A Discrete Geometric Optimal Control Framework for Systems with Symmetries.  Robotics: Science and Systems.
• Kobilarov, M., Sukhatme, G. S. (2007).  Optimal Control Using Nonholonomic Integrators.  IEEE International Conference on Robotics and Automation.
• Kobilarov, M., Hyams, J., Batavia, P., Sukhatme, G. S. (2006).  People tracking and following with mobile robot using an omnidirectional camera and a laser.  IEEE International Conference on Robotics and Automation.
• Kobilarov, M., Sukhatme, G. S. (2005).  Near time-optimal constrained trajectory planning on outdoor terrain.  IEEE International Conference on Robotics and Automation.