Aude Billard

Aude Billard is Professor, School of Engineering, Ecole Polytechnique Federale de Lausanne (EPFL) and Director of the Learning Algorithms and Systems Laboratory (LASA).

  • Learning for Adaptive and Reactive Robot Control

    A Dynamical Systems Approach

    Aude Billard, Sina Mirrazavi, and Nadia Figueroa

    Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises.

    This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills.

    Learning for Adaptive and Reactive Robot Control can be used in graduate-level courses in robotics, and, the chapters proceed from fundamentals to more advanced content. The first section presents an overview of the techniques introduced, including learning from demonstration, optimization, and reinforcement learning. Subsequent sections present the core techniques for learning control laws with dynamical systems, trajectory planning with dynamical systems, and methods for compliant and force control using dynamical systems. Each chapter describes applications, which range from arm manipulators to whole-body control of humanoid robots, and offers both pencil-and-paper and programming exercises. Lecture videos, slides, and MATLAB code examples are available on the author's website. An instructors-only website offers additional material.

    • Hardcover $85.00
  • From Animals to Animats 8

    From Animals to Animats 8

    Proceedings of the Eighth International Conference on the Simulation of Adaptive Behavior

    Stefan Schaal, Auke Jan Ijspeert, Aude Billard, Sethu Vijayakumar, John Hallam, and Jean-Arcady Meyer

    New research on the adaptive behavior of natural and synthetic agents.

    The biannual International Conference on the Simulation of Adaptive Behavior brings together researchers from ethology, psychology, ecology, artificial intelligence, artificial life, robotics, engineering, and related fields to advance the understanding of behaviors and underlying mechanisms that allow natural and synthetic agents (animats) to adapt and survive in uncertain environments. The work presented focuses on well-defined models—robotic, computer simulation, and mathematical—that help to characterize and compare various organizational principles or architectures underlying adaptive behavior in both animals and animats. The proceedings of the eighth conference treat such topics as passive and active perception, navigation and mapping, collective and social behavior, and applied adaptive behavior.

    • Paperback $90.00


  • Robotics


    Science and Systems VII

    Hugh Durrant-Whyte, Nicholas Roy, and Pieter Abbeel

    Papers from a flagship conference reflect the latest developments in the field, including work in such rapidly advancing areas as human-robot interaction and formal methods.

    Robotics: Science and Systems VII spans a wide spectrum of robotics, bringing together researchers working on the algorithmic or mathematical foundations of robotics, robotics applications, and analysis of robotics systems. This volume presents the proceedings of the seventh annual Robotics: Science and Systems conference, held in 2011 at the University of Southern California. The papers presented cover a wide range of topics in robotics, spanning mechanisms, kinematics, dynamics and control, human-robot interaction and human-centered systems, distributed systems, mobile systems and mobility, manipulation, field robotics, medical robotics, biological robotics, robot perception, and estimation and learning in robotic systems. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented.

    • Paperback $75.00