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ICRA
2010
IEEE
137views Robotics» more  ICRA 2010»
8 years 10 months ago
Dipole-like fields for stabilization of systems with Pfaffian constraints
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...
Dimitra Panagou, Herbert G. Tanner, Kostas J. Kyri...
AUTOMATICA
2002
80views more  AUTOMATICA 2002»
8 years 11 months ago
Matching, linear systems, and the ball and beam
A recent approach to the control of underactuated systems is to look for control laws which will induce some speci
F. Andreev, David Auckly, S. Gosavi, Lev Kapitansk...
TROB
2008
128views more  TROB 2008»
8 years 12 months ago
Convergence-Preserving Switching for Topology-Dependent Decentralized Systems
Abstract-- Stability analysis of decentralized control mechanisms for networked, coordinating systems has generally focused on specific controller implementations, such as nearest ...
Brian Shucker, Todd D. Murphey, John K. Bennett
AUTOMATICA
2008
86views more  AUTOMATICA 2008»
9 years 2 days ago
Notes on averaging over acyclic digraphs and discrete coverage control
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...
Chunkai Gao, Jorge Cortés, Francesco Bullo
AUTOMATICA
2007
104views more  AUTOMATICA 2007»
9 years 2 days ago
Improving off-line approach to robust MPC based-on nominal performance cost
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...
BaoCang Ding, YuGeng Xi, Marcin T. Cychowski, Thom...
CDC
2009
IEEE
164views Control Systems» more  CDC 2009»
9 years 3 months ago
Spectral Multiscale Coverage: A uniform coverage algorithm for mobile sensor networks
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...
George Mathew, Igor Mezic
CDC
2009
IEEE
124views Control Systems» more  CDC 2009»
9 years 3 months ago
3D bipedal walking with knees and feet: A hybrid geometric approach
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. ...
Ryan W. Sinnet, Aaron D. Ames
CDC
2009
IEEE
137views Control Systems» more  CDC 2009»
9 years 4 months ago
Controlling the phase of an oscillator: A phase response curve approach
— 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...
Denis V. Efimov, Pierre Sacre, Rodolphe Sepulchre
ICRA
2002
IEEE
176views Robotics» more  ICRA 2002»
9 years 4 months ago
Coverage Control for Mobile Sensing Networks
— 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...
Jorge Cortés, Sonia Martínez, Timur ...
IROS
2006
IEEE
113views Robotics» more  IROS 2006»
9 years 6 months ago
A Framework for Automatic Deployment of Robots in 2D and 3D Environments
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...
Marius Kloetzer, Calin Belta
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