Navigating Abstraction in Autonomous Motion Planning

Outline
00:00 - Intro
02:14 - Early steps in control
05:36 - L1 control
17:09 - Relay feedback systems
24:32 - Agile robotic maneuvers
29:31 - Abstractions and models
41:59 - Causality
49:35 - Markets and power grids
1:00:20 - Role of network structure
1:05:03 - Data, systems, and society
1:16:17 - On writing
1:22:57 - Cascaded failures in networks
1:30:40 - Information design
1:34:29 - Data markets
1:42:27 - On economics and engineering
1:48:18 - Systems thinking for societal problems
1:58:24 - Advice to future students

Links
Website: https://dahleh.lids.mit.edu/
Data Nation podcast: https://tinyurl.com/2fxwxw2d
S. Bhattacharyya: https://tinyurl.com/4z93f6n7
Wonham’s geometric control: https://tinyurl.com/mrxxkrv9
B. Pearson: https://tinyurl.com/3vaz9yc9
L1-optimal control: https://t.ly/NuXp8
M. Vidyasagar: https://tinyurl.com/4z3zamh6
Relay feedback systems: https://tinyurl.com/47tr23a4
J. Tsitsilkis: https://tinyurl.com/yc7jmzm6
Maneuver-based motion planning: https://tinyurl.com/bdduu2ea
Nutonomy: https://tinyurl.com/426s7stv
Feedback control with noisy channels: https://tinyurl.com/2yschy2s
Bode’s integral: https://tinyurl.com/2s47rjmp
Fundamental limits and molecular fluctuations: https://tinyurl.com/5n8k4maa
Volatility of power grids: https://tinyurl.com/2vfpjfy7
Bayesian learning in social networks: https://tinyurl.com/3mk9p486
D. Acemoglu: https://tinyurl.com/3nphek9h
A. Ozdaglar: https://tinyurl.com/yvdnddh9
Cascade failures in networks: https://tinyurl.com/u2ckx94v
A marketplace for data: https://tinyurl.com/esvbtprb

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Podcast info
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Acknowledgments and sponsors
This episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.