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1,957
Coverage Control for Mobile Sensing Networks
, 2002
"... This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functio ..."
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Cited by 582 (49 self)
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This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closedloop behavior is adaptive, distributed, asynchronous, and verifiably correct.
Structured Semidefinite Programs and Semialgebraic Geometry Methods in Robustness and Optimization
, 2000
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Basic problems in stability and design of switched systems
 IEEE Control Systems Magazine
, 1999
"... By a switched system, we mean a hybrid dynamical system consisting of a family of continuoustime subsystems and a rule that orchestrates the switching between them. This article surveys recent developments in three basic problems regarding stability and design of switched systems. These problems ar ..."
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Cited by 379 (10 self)
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By a switched system, we mean a hybrid dynamical system consisting of a family of continuoustime subsystems and a rule that orchestrates the switching between them. This article surveys recent developments in three basic problems regarding stability and design of switched systems. These problems are: stability for arbitrary switching sequences, stability for certain useful classes of switching sequences, and construction of stabilizing switching sequences. We also provide motivation for studying these problems by discussing how they arise in connection with various questions of interest in control theory and applications.
A survey of recent results in networked control systems
 PROCEEDINGS OF THE IEEE
, 2007
"... Networked Control Systems (NCSs) are spatially distributed systems for which the communication between sensors, actuators, and controllers is supported by a shared communication network. In this paper we review several recent results on estimation, analysis, and controller synthesis for NCSs. The re ..."
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Cited by 300 (11 self)
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Networked Control Systems (NCSs) are spatially distributed systems for which the communication between sensors, actuators, and controllers is supported by a shared communication network. In this paper we review several recent results on estimation, analysis, and controller synthesis for NCSs. The results surveyed address channel limitations in terms of packetrates, sampling, network delay and packet dropouts. The results are presented in a tutorial fashion, comparing alternative methodologies.
Computation of Piecewise Quadratic Lyapunov Functions for Hybrid Systems
 IEEE Transactions on Automatic Control
, 1998
"... . This paper presents a computational approach to stability analysis of nonlinear and hybrid systems. The search for a piecewise quadratic Lyapunov function is formulated as a convex optimization problem in terms of linear matrix inequalities. The relation to frequency domain methods such as the cir ..."
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Cited by 259 (4 self)
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. This paper presents a computational approach to stability analysis of nonlinear and hybrid systems. The search for a piecewise quadratic Lyapunov function is formulated as a convex optimization problem in terms of linear matrix inequalities. The relation to frequency domain methods such as the circle and Popov criteria is explained. Several examples are included to demonstrate the flexibility and power of the approach. Keywords. Piecewise linear systems, Lyapunov stability, linear matrix inequalities. 1. Introduction Construction of Lyapunov functions is one of the most fundamental problems in systems theory. The most direct application is stability analysis, but analogous problems appear more or less implicitly also in performance analysis, controller synthesis and system identification. Consequently, methods for constructing Lyapunov functions for general nonlinear systems is of great theoretical and practical interest. The objective of this paper is to develop a uniform and compu...
Stability analysis of networked control systems,”
 IEEE Trans. Control Systems Technology,
, 2002
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Movement Imitation with Nonlinear Dynamical Systems in Humanoid Robots
 In IEEE International Conference on Robotics and Automation (ICRA2002
, 2002
"... This article presents a new approach to movement planning, online trajectory modification, and imitation learning by representing movement plans based on a set of nonlinear di#erential equations with welldefined attractor dynamics. In contrast to nonautonomous movement representations like spline ..."
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Cited by 204 (26 self)
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This article presents a new approach to movement planning, online trajectory modification, and imitation learning by representing movement plans based on a set of nonlinear di#erential equations with welldefined attractor dynamics. In contrast to nonautonomous movement representations like splines, the resultant movement plan remains an autonomous set of nonlinear di#erential equations that forms a control policy (CP) which is robust to strong external perturbations and that can be modified online by additional perceptual variables. The attractor landscape of the control policy can be learned rapidly with a locally weighted regression technique with guaranteed convergence of the learning algorithm and convergence to the movement target. This property makes the system suitable for movement imitation and also for classifying demonstrated movement according to the parameters of the learning system.
Local control strategies for groups of mobile autonomous agents
 IEEE Transactions on Automatic Control
, 2004
"... Abstract — The problem is studied of achieving a specified formation among a group of mobile autonomous agents by distributed control. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three form ..."
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Cited by 198 (10 self)
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Abstract — The problem is studied of achieving a specified formation among a group of mobile autonomous agents by distributed control. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three formation strategies are studied and convergence is proved under certain conditions. Also, motivated by the question of whether collisions occur, formation evolution is studied. I.
Stability analysis of swarms
 IEEE Transactions on Automatic Control
, 2003
"... Abstract — In this brief article we specify an “individualbased ” continuous time model for swarm aggregation in ndimensional space and study its stability properties. We show that the individuals (autonomous agents or biological creatures) will form a cohesive swarm in a finite time. Moreover, we ..."
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Cited by 197 (9 self)
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Abstract — In this brief article we specify an “individualbased ” continuous time model for swarm aggregation in ndimensional space and study its stability properties. We show that the individuals (autonomous agents or biological creatures) will form a cohesive swarm in a finite time. Moreover, we obtain an explicit bound on the swarm size, which depends only on the parameters of the swarm model. I.