Related papers: Steering laws for motion camouflage
We consider the problem of optimizing the steady state of a dynamical system in closed loop. Conventionally, the design of feedback optimization control laws assumes that the system is stationary. However, in reality, the dynamics of the…
A real-time motion training system for skydiving is proposed. Aerial maneuvers are performed by changing the body posture and thus deflecting the surrounding airflow. The natural learning process is extremely slow due to unfamiliar…
A common feature of biological self-organization is how active agents communicate with each other or their environment via chemical signaling. Such communications, mediated by self-generated chemical gradients, have consequences for both…
The goal of this work is the development of a motion model for sequentially timed movement actions in robotic systems under specific consideration of temporal stabilization, that is maintaining an approximately constant overall movement…
We derive a feedback control law for the control of the downstream flow in a 1-D open channel by manipulating the water flow at an upstream location. We use backstepping for controller design and Lyapunov techniques for stability analysis.…
Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
Conservation laws are key theoretical and practical tools for understanding, characterizing, and modeling nonlinear dynamical systems. However, for many complex systems, the corresponding conserved quantities are difficult to identify,…
There are many situations in which it would be beneficial for a robot to have predictive abilities similar to those of rational humans. Some of these situations include collaborative robots, robots in adversarial situations, and for dynamic…
Understanding the organization of collective motion in biological systems is an ongoing challenge. In this Paper we consider a minimal model of self-propelled particles with variable speed. Inspired by experimental data from schooling fish,…
We present a motion planning algorithm for a class of uncertain control-affine nonlinear systems which guarantees runtime safety and goal reachability when using high-dimensional sensor measurements (e.g., RGB-D images) and a learned…
Symmetries of nonlinear control systems in state representation are considered. To this end, a geometric approach to ordinary differential equations is advocated. Invariant feedback laws for systems with Lie symmetries, i.e. feedback laws…
In this paper we present an approach to control a vehicle in a hostile environment with static obstacles and moving adversaries. The vehicle is required to satisfy a mission objective expressed as a temporal logic specification over a set…
We propose a new method for pure-state and subspace preparation in quantum systems, which employs the output of a continuous measurement process and switching dissipative control to improve convergence speed, as well as robustness with…
In this paper, we study the problem of deceptive reinforcement learning to preserve the privacy of a reward function. Reinforcement learning is the problem of finding a behaviour policy based on rewards received from exploratory behaviour.…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
We propose a logic-informed knowledge-driven modeling framework for human movements by analyzing their trajectories. Our approach is inspired by the fact that human actions are usually driven by their intentions or desires, and are…
This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three…
The contribution gives a micro-structural insight into the pedestrian decision process during an egress situation. A method how to extract the decisions of pedestrians from the trajectories recorded during the experiments is introduced. The…
Progressive quenching (PQ) is the stochastic process in which the system's degrees of freedom are sequentially fixed. While such process does not satisfy the local detailed balance, it has been found that the some physical observable of a…