In the practical cases, a manipulator is required to perform tasks, usually end-effector position and orientation control, along with various inequality constraints, i.e., joint limits, joint velocity limits, torque limits, obstacle avoidance, etc. There have been several approaches to integrate

important because efficiency demands operating points on or close to the boundary of the set of admissible states and controls. In this review, we focus on model predictive control of constrained systems, both linear and nonlinear and discuss only briefly model predictive control of unconstrained nonlinear

This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi-tionally considered a high level planning problem, can be effectively distributed between different levels of control, al

This paper provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief

Abstract A promising technique for protecting privacy and integrity of sensitive data is to statically check information flow within programs that manipulate the data. While previous work has proposed programming language extensions to allow this static checking, the resulting languages are too

We consider the problem of adjusting the transmit powers of nodes in a multihop wireless network (also called an ad hoc network) to create a desired topology. We formulate it as a constrained optimization problem with two constraints- connectivity and biconnectivity, and one optimization objective

, and furthermore are subject to attentional control. A model of attention is presented to address these issues. Within a parallel distributed processing framework, it is proposed that the attributes of automaticity depend on the strength of a processing pathway and that strength increases with train-ing

The problem of allocating network resources to the users of an integrated services network is investigated in the context of rate-based flow control. The network is assumed to be a virtual circuit, connection-based packet network. We show that the use of Generalized processor Sharing (GPS), when

independent; and, by using Bayesian outlier methods, it circumvents the need for Bonferroni correction for multiple tests, leading to better performance in many settings while still constraining risk for false positives. The performance of our genomic control method is quite good for plausible effects

This paper describes the Player/Stage software tools applied to multi-robot, distributed-robot and sensor network systems. Player is a robot device server that provides network transparent robot control. Player seeks to constrain controller design as little as possible; it is device independent