A Dynamical System Approach to Realtime Obstacle Avoidance
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In this thesis we study stability from several viewpoints. After covering the practical importance, the rich history and the ever-growing list of manifestations of stability, we study the following. (i) (Statistical identification of stable dynamical syste ...
Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...
In this article, we propose a dynamical system to avoid obstacles which are star shaped and simultaneously converge to a goal. The convergence is almost-global in a domain and the stationary points are identified explicitly. Our approach is based on the id ...
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Two dynamical systems are topologically equivalent when their phase-portraits can be morphed into each other by a homeomorphic coordinate transformation on the state space. The induced equivalence classes capture qualitative properties such as stability or ...
Described is a closed-loop control scheme capable of stabilizing a parametrically excited nonlinear structure in several vibration modes. By setting the relative phase between the spatially filtered response and the excitation, the open-loop unstable solut ...
In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce ...
In this thesis, we developed a research direction that combines the theoretical concepts of complex networks with practical needs and applications in the field of transportation engineering.
As a first objective we analyzed the phenomenon of congestion pr ...
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As an extension of the isotropic setting presented in the companion paper Agoritsas et al (2019 J. Phys. A: Math. Theor. 52 144002), we consider the Langevin dynamics of a many-body system of pairwise interacting particles in d dimensions, submitted to an ...