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UID:10000177-1681804800-1681808400@www.neuropac.info
SUMMARY:INRC Forum: Akshit Saradagi
DESCRIPTION:Neuromorphic sensing in sub-terranean environments and neuromorphic solvers for model predictive control\nAbstract: In this talk\, I will be presenting some recent results in Neuromorphic Engineering from the Robotics and AI group at Luleå University of Technology\, Sweden.\nIn the first half of my talk\, I will be presenting a novel LiDAR and event camera fusion framework for fast and precise object and human detection in subterranean (SubT) environments. The fusion framework caters to the wide variety of adverse lighting conditions found in SubT environments\, such as low or no light\, high-contrast zones and in the presence of blinding light sources. The proposed fusion uses intensity filtering and K-means clustering on the LiDAR point cloud and frequency filtering and connectivity clustering on the events induced in an event camera by the returning LiDAR beams. The fusion framework was experimentally validated in a real SubT environment (a mine) with a Pioneer 3AT mobile robot. The experimental results show real-time performance for human detection and the NMPC-based controller allows for reactive tracking of a human or object of interest\, even in complete darkness.\nIn the second half of the talk\, I will be presenting our preliminary results on using neuromorphic solvers for solving quadratic programs arising in Model Predictive Control (MPC). More specifically\, we employed the floating-point LAVA QP solver\, which emulates the Proportional-Integral Projected Gradient (PIPG) Method for solving QP problems\, to solve terminally constrained MPC problems. The objective function in linear MPC problems being strongly convex\, the LAVA QP solver ensures that the distance to optimum and the constraint violation converge to zero at the rate of O(1/k^2) and O(1/k^3) respectively\, with ‘k’ being the number of solver iterates. Given this peculiar convergence property of the solver\, I will present a sketch of our proof for asymptotic stability of the closed loop system\, along with the simulation-based validation. \nBio: Akshit Saradagi is a Postdoctoral researcher in the Robotics and AI group at Luleå University of Technology\, Sweden. He received his M.S and Ph.D dual degree from the Indian Institute of Technology Madras (IITM)\, Chennai\, India. His current research focusses on distributed control of multi-agent systems\, control barrier functions-based safety guarantees in Robotics\, applications of Neuromorphic Computing in Robotics and control under resource constraints. \nFor the meeting link\, see the full INRC Forum Spring 2023 Schedule (accessible only to INRC Affiliates and Fully Engaged Members).
URL:https://www.neuropac.info/event/inrc-forum-bruno-olshausen-2-3/
LOCATION:Online
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=Europe/Amsterdam:20230418T210000
DTEND;TZID=Europe/Amsterdam:20230418T223000
DTSTAMP:20260418T152025
CREATED:20230320T142706Z
LAST-MODIFIED:20230320T142706Z
UID:10000033-1681851600-1681857000@www.neuropac.info
SUMMARY:NeuroPAC Seminar: Forum on Neuromorphic Navigation
DESCRIPTION:Panelists: \n\nAndrew Davidson\, Imperial College\, London\nKostas Daniilidis\, University of Pennsylvania\nMichael Milford\, Queensland University of Technology\n\nJoin the seminar: https://umd.zoom.us/j/93344217202 \nMore information: https://www.neuropac.info/seminars/
URL:https://www.neuropac.info/event/neuropac-seminar-forum-on-neuromorphic-navigation/
LOCATION:Online
CATEGORIES:Symposium,Talk
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BEGIN:VEVENT
DTSTART;TZID=UTC:20230420T163000
DTEND;TZID=UTC:20230420T173000
DTSTAMP:20260418T152025
CREATED:20230127T222256Z
LAST-MODIFIED:20230828T170621Z
UID:10000041-1682008200-1682011800@www.neuropac.info
SUMMARY:Theory of Neuromorphic Computing
DESCRIPTION:Recurring discussion meeting by researchers interested in the theory of neuromorphic computing. \nHosted by Arne Diehl and Johan Kwisthout of Radboud University. To join the meetings\, please contact Arne Diehl: arne.diehl@donders.ru.nl.
URL:https://www.neuropac.info/event/theory-of-neuromorphic-computing/2023-04-20/
LOCATION:Online
CATEGORIES:Discussion
ORGANIZER;CN="Arne Diehl":MAILTO:arne.diehl@donders.ru.nl
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