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Manolo Garabini - University of Pisa - "Optimal Control: From Calculus of Variations Theory to Numerical Optimization Methods and Tools, with Application to Motion Planning and Control", 22-26 June 2020

Hours:
24 hours (6 credits)

Short Abstract:
The availability of an unprecedented level of computational power opens a whole new range of possibilities in several fields. This is strongly impacting the way to plan and control the motion of robots. This course will provide an approach to exploit the full potential of these new tools starting from the calculus of variations theory and then showing how to properly translate an optimal control problem into an optimization program. Hence an overview of the state-of-the-art optimization algorithms (and tools) will be given highlighting the link between different algorithms and problems. Finally examples and open problems will be discussed.

Course Contents in brief:

  1. Introduction (0.5 h)
  2. Elements of Calculus of Variations (3 h)
  3. From Optimal Control to Optimization (3.5 h)
  4. Optimization Problems (3.5 h)
  5. Deterministic Optimization Algorithms (3.5 h)
  6. Tools, Solvers and the Decision Tree (3.5 h)
  7. Examples (3.5 h)
  8. Open Problems in Motion Planning and Control of Robots (3 h)

Schedule:

Monday 22 – Friday 26 June 2020

Mon

Tue

Wed

Thu

Fri

 

8:30

10:30

8:30

10:30

8:30

10:30

9:00

10:30

Break

Break

Break

Break

11:00

12:30

11:00

12:30

11:00

12:30

11:00

12:30

Lunch

13:30

15:30

13:30

15:30

Lab

Visit

13:30

15:30

 

Break

Break

Break

16:00

17:30

16:00

17:30

16:00

17:30