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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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7 Concluding Remarks
As indicated in the Chapter 1, the objectives of this monograph were to present a unified framework for combining compliant motion control,...
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1 Introduction
The problem of position control of robot manipulators was addressed in the 1970’s to develop control schemes capable of controlling a manipulator’s...
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A Homotopy Continuation Solution of the Covariance Extension Equation
Algebraic geometry plays an important role in the theory of linear systems for (at least) three reasons. First, the Laplace transform turns...
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Arithmetic Properties of Observable Time Dependent Systems
Here we consider questions of discrete observability for linear systems of ordinary differential equations, extending work by Martin and Smith in...
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Endomorphisms of Hopf Algebras and a Little Bit of Control
Firstly this paper summarizes some of the the relations between control theory and coalgebra and Hopf algebra theory, particularly the fact that the...