DEJAN Milutinović's homepage
My work focuses on the control of robotic and vehicle systems in which the influence of stochastic processes cannot be ignored and needs to be anticipated, for example, the presence of stochastic drifts, measurement and estimation errors and human-in-the loop uncertainty. Stochastic processes can also model any lack of data resulting in a dynamic uncertainty. While one may think of using stochastic models to predict the data and then use the predictions for the control, my approach is to use stochastic processes to model possible dynamic system evolutions and anticipate uncertainties in their control .
This multidisciplinary research is primarily focused on probabilistic models, stochastic dynamics and control with the aim of creating better robotic systems. The main challenges in pursuing this goal are in nonlinearities, multiple degrees of freedom and uncertainties. This work is applicable to robotics, autonomous systems, next generation of air transportation system (NextGen) and biomedical research.
Research interest: Stochastic dynamical systems and statistical signal processing, multi-agent systems/robotics, systems biology/immune system, optimal control, hybrid and discrete event systems
Associate Editor: Journal of Intelligent and Robotics Systems, Springer
The paper "Coordinate Frame Free Dubins Vehicle Circumnavigation Using Only Range Based Measurements" has been accepted for publication in International Journal of Robust and Nonlinear Control, Wiley
The paper "Scalable Value Approximation for Multiple Target Tail-Chase with Collision Avoidance" has been accepted for the Proceedings of the 55th IEEE Conference on Decision and Control (CDC), Las Vegas, NV
Best Conference Paper Award for "Feedback Control of Three-Bead Achiral Robotic Microswimmers", by U Kei Cheang, Hoyeon Kim, Dejan Milutinović, Jongeun Choi, Louis Rogowski and Min Jun Kim at the 12 International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Goyang City, Korea, October 28-30, 2015 (link). The paper is a result of my work with the collaborators at Drexel (link) and MSU (link) .
Special issue on Stochastic Models, Control and Algorithms in Robotics, ASME Journal of Dynamic Systems, Measurement and control (Guest editors: Jongeun Choi (link) and Dejan Milutinović)
appeared in March 2015 (link)