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Reference Work Entry In depth
Oscillator Synchronization
The nonlinear Kuramoto equations for n coupled oscillators are derived and studied. The oscillators are defined to be synchronized when they oscillate at the same frequency and their phases are all equal. A contr...
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Book
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Chapter
Introduction
This first chapter motivates our study by the example of robot exploration on Mars. This leads to the formal robotics problem of achieving a formation.
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Chapter
The Flocking Problem
The flocking and the rendezvous problems are the two most basic distributed robotics problems. This chapter gives a formal definition of the flocking problem for unicycles and discusses the extent to which it ...
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Chapter
The Rendezvous Problem: Limited Camera Range
In the preceding chapter, the onboard cameras can see an infinite range with no error; obviously, an idealization. In this chapter the onboard cameras have a limited range taken to be one spatial unit; the cam...
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Chapter
Models of Mobile Robots in the Plane
Wheeled rovers like the Sojourner of the preceding chapter move over the surface of the earth or some other planet by means of a motor drive. The rovers are held to the surface by gravity (assuming the surface...
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Chapter
The Rendezvous Problem: Fixed Neighbours
Imagine a group of rovers on Mars, distributed over a large area and without any global positioning system. During the day each robot carries out scientific experiments. When the day comes to an end, robots ar...
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Chapter
Introduction to Flying Robots
Many flying robots can be regarded as rigid bodies propelled by a thrust force whose direction is constant from the viewpoint of the robot, but whose magnitude can be controlled. Such robots are endowed with a...
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Reference Work Entry In depth
Oscillator Synchronization
The nonlinear Kuramoto equations for n coupled oscillators are derived and studied. The oscillators are defined to be synchronized when they oscillate at the same frequency and their phases are all equal. A contr...
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Living Reference Work Entry In depth
Oscillator Synchronization
The nonlinear Kuramoto equations for n coupled oscillators are derived and studied. The oscillators are defined to be synchronized when they oscillate at the same frequency and their phases are all equal. A contr...
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Chapter and Conference Paper
Vision-Based Vehicle Trajectory Following with Constant Time Delay
A convoy problem is formulated and solved for two four-wheeled vehicles. The task is for the second vehicle to follow the leader’s trajectory with a constant time delay. This delayed trajectory can be viewed a...
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Book and Conference Proceedings
Control of Uncertain Systems: Modelling, Approximation, and Design
A Workshop on the Occasion of Keith Glover’s 60th Birthday
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Chapter and Conference Paper
From digital control to digital signal processing
The problem of designing multirate filter banks for subband coding is reviewed and a new approach is suggested based on recent techniques from optimal sampled-data control design.
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Chapter
Solution of a Wavelet Crime
Wavelet theory is based on multiresolution. Applied to L2, this yields an infinite nest of approximation subspaces at decreasing scales of resolution. Wavelet subspaces are then formed from these approximation su...
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Book and Conference Proceedings
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Chapter and Conference Paper
Daisy: A Large Flexible Space Structure Testbed for Advanced Control Experiments
Daisy is an experimental testbed facility at the University of Toronto’s Institute for Aerospace Studies (UTIAS) whose dynamics are meant to emulate those of a real large flexible space structure (LFSS); see F...
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Article
Generalized interpolation in control theory
In the past few years a productive interchange of ideas has taken place between the engineering and operator theory communities. We have only emphasized the control theoretic side of this interchange, but actu...
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Chapter and Conference Paper
A Guide To H∞- Control Theory
This paper is intended as a tutorial on the most basic H ∞- control problem. The set-up is linear, time-invariant, finite-dimensional, continuous-time. The main theme is that the theory is most si...
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Chapter and Conference Paper
Optimal disturbance attenuation with control weighting
An H ∞-optimal control problem is treated in the context of discrete-time multi-input/output linear systems. The cost is the maximum, over all disturbances of unit energy, of a weighted sum of the energies of the...
