Now showing items 1-6 of 6
Experimenting with Hybrid Control
There is a growing realization among educators andemployers that students of automatic control should be encouraged tothink of the subject in broader terms. The systems approach shouldembrace communication requirements, ...
The Dynamics of a Forced Sphere-Plate Mechanical System
We study the dynamics and explore thecontrollability of a family of sphere-plate mechanical systems. Theseare nonholonomic systems with a five-dimensional configuration spaceand three independent velocities. They consist ...
Robot Formations: Learning Minimum-Length Paths on Uneven Terrain
We discuss a prototypeproblem involving terrain exploration and learning by formations ofautonomous vehicles. We investigate an algorithm forcoordinating multiple robots whose task is to find the shortest pathbetween a ...
Generalized Inverses for Finite-Horizon Tracking
Control and communication issues aretraditionally "decoupled" in discussions of decision and controlproblems, as this simplifies the analysis and generally works well forclassical models. This fundamental assumption deserves ...
Stabilization of LTI Systems with Communication Constraints
This work is directed towards exploring interactions ofcommunication and control in systems with communication constraints.Examples of such systems include groups of autonomousvehicles, MEMS arrays and systems whose sensors ...
The Performance of a Deformable-Membrane Tactile Sensor: Basic Results on Geometrically-Defined Tasks
The limitations of rigid fingertips in the precise andalgorithmic study of manipulation have been discussed in many works,some dating back more than a decade. Despite that fact, much of thework in dexterous manipulation ...