People / Faculty
Jean-Jacques Slotine, Ph.D.
Professor of Mechanical Engineering and Information Sciences
Adaptation and Learning in Robots; Principles of Biological Control
Professor Slotine is the Director of the Nonlinear Systems Laboratory which studies general mathematical principles of nonlinear system stability, adaptation, and learning, and how they apply to robots and to models of biological control. The lab is particularly interested in how stability and performance constraints shape system architecture, representation, and algorithms in robots, and in whether similar constraints may in some cases lead to similar mechanisms in biological systems. Tools from nonlinear control, such as sliding variables, wave variables, and contraction theory also suggest a number of simple models of physiological motor control, which may help understand the specific roles of hierarchies, motor primitives, and nerve transmission delays.
Current projects include:
- Fast motion-vision coordination in robots; robotic catching of free-flying objects
- Models of the cerebellum and stability of biological feedback loops under nerve transmission delays
- Adaptive multiresolution approximation networks for real-time control and prediction
- Stable control using motion primitives; performance of combinations of local and centralized control mechanisms
- Entrainment models in mechanical and biological systems
- Nonlinear observer design techniques for real-time brain imaging
Liu, Y.Y., Slotine, J.J.E., and Barabasi, A.L., Controllability of Complex Networks.Nature.
Bouvrie, J., and Slotine, J.J.E., Synchronization and Redundancy: Implications for Robustness
of Neural Learning and Decision Making, Neural Computation. 23(10), 2011.
Russo, G., and Slotine, J.J.E., Global Convergence of Quorum Sensing Networks.
Physical Review E 82(4), 2010.
Rutishauser, U., Douglas, R.J., and Slotine, J.J.E., Collective Stability of
Networks of Winner-take-all Circuits. Neural Computation, 22(12), 2010.
Tabareau N, Slotine JJ, Pham QC. How synchronization protects from noise. PLoS
Comput Biol. 2010 Jan 15;6(1):e1000637.
Yu G, Slotine JJ. Visual grouping by neural oscillator networks. IEEE Trans
Neural Netw. 2009 Dec;20(12):1871-84. Epub 2009 Nov 13.
McIntyre J, Slotine JJ. Does the brain make waves to improve stability? Brain
Res Bull. 2008 Apr 15;75(6):717-22. Epub 2008 Feb 14. Review.
Tabareau N, Bennequin D, Berthoz A, Slotine JJ, Girard B. Geometry of the
superior colliculus mapping and efficient oculomotor computation. Biol Cybern.
2007 Oct;97(4):279-92. Epub 2007 Aug 10.