ICRA
2010
IEEE
13 years 2 months ago
2010
IEEE
This paper introduces a framework that guides the design of stabilizing feedback control laws for systems with Pfaffian constraints. A new class of N-dimensional vector fields, the...
AUTOMATICA
2002
13 years 4 months ago
2002
A recent approach to the control of underactuated systems is to look for control laws which will induce some speci
TROB
2008
13 years 4 months ago
2008
Abstract-- Stability analysis of decentralized control mechanisms for networked, coordinating systems has generally focused on specific controller implementations, such as nearest ...
AUTOMATICA
2008
13 years 4 months ago
2008
In this paper we study averaging algorithms and coverage control laws in a unified light. First, we characterize the convergence properties of averaging algorithms over acyclic di...
AUTOMATICA
2007
13 years 4 months ago
2007
This paper gives two alternative off-line synthesis approaches to robust model predictive control (RMPC) for systems with polytopic description. In each approach, a sequence of ex...
CDC
2009
IEEE
13 years 7 months ago
2009
IEEE
Abstract— In this paper we propose centralized feedback control laws for mobile sensor networks so that sensor trajectories cover a given domain as uniformly as possible. The des...
CDC
2009
IEEE
13 years 7 months ago
2009
IEEE
Abstract— Motivated by the goal of obtaining moreanthropomorphic walking in bipedal robots, this paper considers a hybrid model of a 3D hipped biped with feet and locking knees. ...
CDC
2009
IEEE
13 years 9 months ago
2009
IEEE
— The paper discusses elementary control strategies to control the phase of an oscillator. Both feedforward and feedback (P and PI) control laws are designed based on the phase r...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
— This paper describes decentralized control laws for the coordination of multiple vehicles performing spatially distributed tasks. The control laws are based on a gradient desce...
IROS
2006
IEEE
13 years 10 months ago
2006
IEEE
Abstract— We present a computational framework for automatic deployment of robots in 2D and 3D rectangular environments with polytopal obstacles. The results are derived for poly...