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Variable Threshold Algorithm for Division of Labor Analyzed as a Dynamical System

Related publications (59)

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Unstable periodic orbits in the Lorenz attractor

We apply a new method for the determination of periodic orbits of general dynamical systems to the Lorenz equations. The accuracy of the expectation values obtained using this approach is shown to be much larger and have better convergence properties than ...

2011

Finding Almost-Invariants in Distributed Systems

Dejan Kostic, Marco Canini, Maysam Yabandeh

It is notoriously hard to develop dependable distributed systems. This is partly due to the difficulties in foreseeing various corner cases and failure scenarios while implementing a system that will be deployed over an asynchronous network. In contrast, r ...

2011

Imitation learning of Globally Stable Non-Linear Point-to-Point Robot Motions using Nonlinear Programming

Aude Billard, Seyed Mohammad Khansari Zadeh

This paper presents a method to learn arbitrary discrete motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) dynamical system, and define the sufficient conditions to make such a system globally asymptoti ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Event-based reduced-attention predictive control for nonlinear uncertain systems

Timm Faulwasser, Benjamin Kern

Event-based control is an alternative to traditional control where new measurements are sampled only if critical events occur. This not only allows to reduce the control effort but it satisfies nowadays application requirements, such for example reduction ...

IEEE2010

CPG-based prostheses control

Marc Louis

In this thesis we describe a strategy to control robotic knees and ankles. A dynamical system is used to generate a position trajectory to control a servo motor replacing the missing joint. The dynamical system consists in a pool of coupled oscillators mod ...

2010

Movement Curvature Planning through Force Field Internal Models

Aude Billard, Biljana Petreska von Ritter-Zahony

Human motion studies have focused primarily on modeling straight point-to-point reaching movements. However, many goal-directed reaching movements, such as movements directed towards oneself, are not straight but rather follow highly curved trajectories. T ...

2009

Linear Parameter Varying Iterative Learning Control

Alireza Karimi, Mark Edward John Butcher

In this paper an Iterative Learning Control (ILC) algorithm is proposed for a certain class of Linear Parameter Varying (LPV) systems whose dynamics change between iterations. Consistency of the algorithm in the presence of stochastic disturbances is shown ...

2009

Lectures on the Orbital Stability of Standing Waves and Application to the Nonlinear Schrodinger Equation

Charles Stuart

In the first part of these notes, we deal with first order Hamiltonian systems in the form Ju'(t) = del H(u(t)) where the phase space X may be in infinite dimensional so as to accommodate some partial differential equations. The Hamiltonian H is an element ...

Birkhäuser-Verlag, Springer2008

Singularly perturbed piecewise deterministic games

Alain Haurie

In this paper we consider a class of hybrid stochastic games with the piecewise open-loop information structure. These games are indexed over a parameter

\varepsilon

which represents the time scale ratio between the stochastic (jump process) and the dete ...

Society for Industrial and Applied Mathematics2008

Contribution to the ergodic theory of piecewise monotone continuous maps

Bastien Faller

This thesis is devoted to the ergodic theory of the piecewise monotone continuous maps of the interval. The coding is a classical approach for these maps. Thanks to the coding, we get a symbolic dynamical system which is almost isomorphic to the initial dy ...

EPFL2008

Singularly perturbed piecewise deterministic games

Alain Haurie

In this paper we consider a class of hybrid stochastic games with the piecewise open-loop information structure. These games are indexed over a parameter

\varepsilon

which represents the time scale ratio between the stochastic (jump process) and the dete ...

Society for Industrial and Applied Mathematics2008