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gallon668木虫 (著名写手)
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【2009-05-12】Stochasticity in Robotics and Biological Systems
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Workshop Web Site: http://web.mit.edu/asada/www/icra2009/icra_stochasticWS.html *Speakers:* Vijay Kumar University of Pennsylvania Yoshihiko Nakamura University of Tokyo Daniela Rus M.I.T. Metin Sitti Carnegie Mellon Univ. Auke Ijspeert Swiss Federal Institute of Technology at Lausanne Franz Hover M.I.T. George Pappas University of Pennsylvania H. Harry Asada M.I.T. *Abstract:* The workshop, ?Stochasticity in Robotics and Biological Systems?, is a unique workshop; while addressing diverse topics of robotics we focus on an underpinning discipline and theory across many branches of robotics. Stochasticity has been a central issue in diverse robotics problems; Modeling of uncertain environment, estimation of state and parameters from noisy data, and decision making based on partial or incomplete information are all critical issues in SLAM, swarm robots, task planning, machine learning, neuro-robotics, and human intension understanding. Stochasticity is also a crucial aspect in biological systems where the multitude of cells and molecules interact stochastically. Yet, collective behaviors of those agents are well regulated and even robust and versatile. Recent progress in systems biology has revealed that the stochastic nature of cell behaviors and random molecular dynamics are the key to the understanding of their collective behaviors and regulatory mechanisms. Researchers of swarm robotics and others are learning from biological systems new stochastic regulatory mechanisms and protocols. Thus stochasticity is heavily involved in diverse fields of robotics and biological systems. The objective of this workshop is to bring together leaders in these isolated research areas, address fundamental issues across the diverse topics, and establish a scientific and disciplinary foundation of robotics. We think that considering fundamental issues beyond specific problems in hand is an important exercise, which will facilitate interdisciplinary studies and will lead to discoveries and breakthroughs for the future. *Motivation and Objectives:* Stochasticity has been playing a central role in many branches of robotics research. Not only basic signal processing, communication, filtering, and control, but also advanced localization, identification, and planning as well as learning and optimization are all heavily involved in stochasticity. Understanding of the stochastic nature of robotic systems and its strategic use are integral part in developing effective systems. The robotics community has been exploring advanced use of stochasticity for system architecture, algorithm development, and communication and control design. Stochasticity is one of the key disciplines that underpin robotics. Biological systems are essentially noisy systems, built upon thermodynamic random processes. Yet, a biological system is a highly regulated system that is robust and sustainable as well as flexible and adaptable. Although individual cell behaviors are stochastic, once assembled, populations of the cells exhibit a particular morphological structure and develop high-level functionality. There must be effective architecture and regulatory mechanisms exploiting stochasticity that today?s engineered systems have not yet utilized. It will be an exciting scientific adventure as well as an ambitious engineering challenge to explore a biological approach to treating and utilizing stochasticity and apply it to robotics and general engineered systems. The objectives of this workshop are to bring together researchers from diverse fields of robotics and biological systems, display the state of the art, explore emerging new theory and methodologies, and chart new directions of robotics. Stochasticity can be used effectively for better estimating, exploring, and optimizing the system as well as for strategically organizing and constructing robotic systems. In traditional engineered systems, randomness has been treated as an unwanted property that should be filtered out. In contrast, the goal of emerging new directions is to seek ways of exploiting and utilizing stochasticity, as observed in biological systems. The overarching aim of this workshop is to put in perspective the diverse research activities in the broad cross-disciplinary areas of robotics, cell biology, neuroscience, and control, and explore new methodologies and applications, which will be enabled by addressing stochasticity from a broad system viewpoint. *List of Topics:* Specific topics of invited talks will include: - SLAM and integrated model building, data acquisition, and decision processes - Complex system identification, including human behavior and intension estimation - Swarm robot control and emergent behaviors of multi-robot systems - Machine learning, stochastic approximation, and stochastic planning and optimization - Neural system modeling, signal processing, and inference. - Emergent behaviors of cell populations and systems biology - Bacteria behavior modeling and control - Self-assembly and chemical kinetics in micro/nano systems [ Last edited by 努力着 on 2009-2-27 at 13:37 ] |
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