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In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...
This paper presents a method for admission control and request scheduling for multiply-tiered e-commerce Web sites, achieving both stable behavior during overload and improved response times. Our method externally observes execution costs of requests onlin ...
The paper presents a two-layered system for learning and encoding a periodic signal and its application to a drumming task. The two layers are the dynamical system responsible for extracting the main frequency of the input signal, based on adaptive frequen ...
Computing infrastructures of mobile robots have grown in complexity in the last decades; They have evolved from single processor systems to networks of microcontrollers communicating through a shared bus. This has induced additional architectural constrain ...
In order to verify models of collective behaviors of animals, robots could be manipulated to implement the model and interact with real animals in a mixed-society. This thesis describes design of the behavioral hierarchy of a miniature robot, that is able ...
The development of robot motion planning algorithms is inherently a challenging task. This is more than ever true when the latest trends in motion planning are considered. Some motion planners can deal with kinematic and dynamic constraints induced by the ...
We apply an adapted version of Particle Swarm Optimization to distributed unsupervised robotic learning in groups of robots with only local information. The performance of the learning technique for a simple task is compared across robot groups of various ...
This paper addresses qualitative and quantitative diversity and specialization issues in the frame- work of self-organizing, distributed, artificial systems. Both diversity and specialization are obtained via distributed learning from initially homogeneous ...
A method is presented to predict phase relationships between coupled phase oscillators. As an illustration of how the method can be applied, a distributed Central Pattern Generator (CPG) model based on amplitude controlled phase oscillators is presented. R ...
This paper addresses qualitative and quantitative diversity and specialization issues in the framework of selforganizing, distributed, artificial systems. Both diversity and specialization are obtained via distributed learning from initially homogeneous sw ...
