报告题目：On the role of latency in teleoperation: stability and learning

报告人：Gabor Orosz 教授（密西根大学安娜堡分校）

时间：2025年8月3日（周日）9点30分

地点：明故宫校区A18号楼705会议室

主办单位：航空航天结构力学及控制全国重点实验室、智能装备动力学中心、振动工程研究所、航空学院、校科协、国际合作处

报告内容摘要：One of the biggest challenges in teleoperation is the latency in communication and actuation, which usually degrades the control performance and sometimes even makes the remote control impossible. In this talk, the effects of latency on the lateral and yaw dynamics of vehicles are investigated during teleoperated driving (ToD). A kinematic bicycle model is equipped with a generic curvature-based controller to represent the teleoperated vehicle. The stability of motion, the convergence rate to a desired trajectory, and the robustness against changes in longitudinal velocity and latency are quantified. To learn teleoperated driving behavior from limited vehicle trajectory data we integrate a data-driven model with physics-based nonlinear vehicle dynamics and formulate it as a neural delay differential equation (NDDE). We provide examples of learning from experimental data generated by a human operator driving in a high-fidelity simulation environment.

报告人简介：Gabor Orosz received the MSc degree in Engineering Physics from the Budapest University of Technology, Hungary, in 2002 and the PhD degree in Engineering Mathematics from the University of Bristol, UK, in 2006. He is currently a Professor of Mechanical Engineering and a Professor of Civil and Environmental Engineering at the University of Michigan, Ann Arbor, USA. His research interests include nonlinear dynamics and control, time delay systems, machine learning, and data-driven systems with applications to connected and automated vehicles, traffic flow, and biological networks.