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Dependability of Mobile Robots in Direct Interaction with Humans
Operating interactive mobile robots in unmodified natural environments such as in museums or at exposition areas impose requirements on the robots,...
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Next Generation Teach Pendants for Industrial Robots
Teach pendants for industrial robots have sometimes been quite rudimentary in the past, and often enough users had to learn to cope with whatever is...
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Adaptive and Distributed Coordination Algorithms for Mobile Sensing Networks
Consider n sites evolving within a convex polygon according to one of the following interaction laws: (i) each site moves away from the closest other...
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Control of Communication Networks Using Infinitesimal Perturbation Analysis of Stochastic Fluid Models
Managing and operating large scale communication networks is a challenging task and it is only expected to get worse as networks grow larger. The...
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Robust Controller Design for AQM and $\mathcal{H}^{\infty}$ -Performance Analysis
Active Queue Management (AQM) has recently been proposed in [1] to support the end-to-end congestion control for TCP traffic regulation on the...
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An Introduction to Nonlinear Fault Diagnosis with an Application to a Congested Internet Router
We aim at extending a recent linear theory on fault diagnosis [8, 9] to nonlinear systems by utilising, like Staroswiecki et al. [39], and Diop et...
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4 Co-existence: Physical Interaction and Coordinated Motion
Co-existence an co-operation between a human and a machine which can move and act in an autonomous mode involves a form of interaction which goes...
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The Robotic Bar – An Integrated Demonstration of a Robotic Assistant
Coming out of the labs, the first robots are currently appearing on the consumer market. Initially they target rather simple application scenarios...
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Flocking in Teams of Nonholonomic Agents
The motion of a group of nonholonomic mobile agents is synchronized using local control laws. This synchronization strategy is inspired by the early...
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Position and Force Tracking in Bilateral Teleoperation
A teleoperator is a dual robot system in which a remote slave robot tracks the motion of a master robot, which is, in turn, commanded by a human...
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Learning Behavioral Sequences by Means of Nonlinear Dynamics
We present a software architecture for the behavioral organization of a mobile robot which is entirely based on nonlinear dynamical systems. The...
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The Control Architecture of Care-O-bot II
Robot assistants act in dynamic environments and have to cope with changing situations: they must be able to sense the world and to control their...
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Robotic Home Assistant Care-O-bot II
Technical aids allow elderly and handicapped people to live independently in their private homes as long as they wish. As a contribution to these...
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Statistical Recognition of Motion Patterns
One key prerequisite for a machine to interact intelligently with people is its ability to recognize humans as interaction partners and to understand...
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1 Introduction
The class of block-oriented nonlinear models includes complex models which are composed of linear dynamic systems and nonlinear static elements....
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On the Optimization of Load Balancing in Distributed Networks in the Presence of Delay
Distributing the total computational load across available processors is referred to as load balancing in the literature. A typical distributed...
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State-Space Models for Control and Identification
In the last two decades, design and performance evaluation of efficient congestion control methods for packet-switching computer communication...
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6 The Modified Taught Data Method
In order to realize the movement of an industrial robot, the given objective trajectory is always used without any change when their coordinate...
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Optimal Control of Differential-Algebraic Inclusions
In this paper we consider the following dynamic optimization problem ( P ) governed by differential-algebraic inclusions:...
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A Continuous Control Mechanism for Uncertain Nonlinear Systems
The control of uncertain nonlinear systems is a topic that continues to challenge control theoreticians. This topic is also of practical importance...