Home

About

Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network
FAQHELPSITE MAPCONTACT US


  Advanced Search  

 
The Center for Control, Dynamical Systems, and Computation University of California at Santa Barbara
 

Summary: The Center for Control, Dynamical Systems, and Computation
University of California at Santa Barbara
Winter 2009 Seminar Series
Presents
Specification and Optimization of Interconnected
Switched Systems with Applications to Robotic
Marionettes
Magnus Egerstedt
Georgia Institute of Technology
Friday, March 13, 2009 3:00 - 4:00pm Chem 1171
Abstract:
When specifying and designing controllers for complex systems, high-level languages are needed in order to
manage the complexity. However, the price one has to pay for this abstraction-level is a lack of physical detail, that
must be provided at a lower level. We address this problem within the context of robotic marionettes by proposing
a so-called motion description language for specifying and encoding autonomous puppetry plays in a manner
that is faithful to the way puppetry choreography is currently formulated. In particular, what results is a formal
language whose strings, when parsed by a dynamical system (the puppet) produces optimized, hybrid control
laws corresponding to strings of motions, locations, and temporal durations for each agent. And, even though
the global performance objectives are centralized, by locally optimizing the timing of the different movements
(based on so-called team theory for min-max optimization), entire plays can be performed. Experimental results

  

Source: Akhmedov, Azer - Department of Mathematics, University of California at Santa Barbara

 

Collections: Mathematics