相关论文: Trajectory control using an information engine

We show explicitly the entropy reduction from a detailed fluctuation theorem for the general stochastic system driven by nonequilibrium process under feedback control. The effect of interaction of the feedback controller with the system is…

Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For…

Motivated by a recent prediction to engineer the dispersion relation of a waveguide constructed from atomic components [arXiv:2104.08121], we explore the possibility to create directional transport in an open, collective quantum system. The…

In this paper it is developed a simple, analytical and very efficient method capable to provide control of optical beam's intensity over an arbitrary curvilinear (planar) trajectory. The same method also provides the possibility of managing…

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…

This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…

Many organisms navigate gradients by alternating straight motions (runs) with random reorientations (tumbles), transiently suppressing tumbles whenever attractant signal increases. This induces a functional coupling between movement and…

Biological and engineered systems operate by coupling function to the transfer of heat and/or particles down a thermal or chemical gradient. In idealized \textit{deterministically} driven systems, thermodynamic control can be exerted…

Robot motions in the presence of humans should not only be feasible and safe, but also conform to human preferences. This, however, requires user feedback on the robot's behavior. In this work, we propose a novel approach to leverage the…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

The recently developed feedback trap can be used to create arbitrary virtual potentials, to explore the dynamics of small particles or large molecules in complex situations. Experimentally, feedback traps introduce several finite time…

This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…

Information flow in quantum spin networks is considered. Two types of control -- temporal bang-bang switching control and control by varying spatial degrees of freedom -- are explored and shown to be effective in speeding up information…

We generalize a method of control of chaos which uses delayed feedback at the period of an unstable orbit to stabilize that orbit. The generalization consists of substituting some portion of the nonlinear dynamical system with a delayed…

Applications such as traffic engineering and network provisioning can greatly benefit from knowing, in real time, what is the largest input rate at which it is possible to transmit on a given path without causing congestion. We consider a…

Reducing work fluctuation and dissipation in heat engines or, more generally, information heat engines that perform feedback control is vital to maximize their efficiency. The same problem arises when we attempt to maximize the efficiency…

This paper addresses a new approach to find a spectrum of information measures for the process of digital circuit synthesis. We consider the problem from the information engine point of view. The circuit synthesis as a whole and different…

Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are…

This paper presents a novel methodology to develop scheduling algorithms. The scheduling problem is phrased as a control problem, and control-theoretical techniques are used to design a scheduling algorithm that meets specific requirements.…

Most tracking-by-detection methods employ a local search window around the predicted object location in the current frame assuming the previous location is accurate, the trajectory is smooth, and the computational capacity permits a search…