The classical filtering and prediction problem is re-examined using the Bode- Shannon representation of random processes and the state transition method of analysis of dynamic systems. New results are: (1) The formulation and methods of solution of…
Systems and Control Theory
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Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and…
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When we make saccadic eye movements or goal-directed arm movements, there is an infinite number of possible trajectories that the eye or arm could take to reach the target. However, humans show highly stereotyped trajectories in which velocity…
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This book, by a leading authority on legged locomotion, presents exciting engineering and science, along with fascinating implications for theories of human motor control. It lays fundamental groundwork in legged locomotion, one of the least…
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Abstract Particle swarm optimization (PSO) has undergone many changes since its introduction in 1995. As researchers have learned about the technique, they have derived new versions, developed new applications, and published theoretical studies of…
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In this self-contained survey/review paper, we system- atically investigate the roots of Bayesian filtering as well as its rich leaves in the literature. Stochastic filtering theory is briefly reviewed with emphasis on nonlinear and non-Gaussian…
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Note: OCR errors may be found in this Reference List extracted from the full text article. ACM has opted to expose the complete List rather than only correct and linked references.
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Hybrid automata provide a language for modeling and analyzing digital and analogue computations in real-time systems. Hybrid automata are studied here from a dynamical systems perspective. Necessary and sufficient conditions for existence and…
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Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in…
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This paper considers the problem of devising an adequate theory in which the behaviour of flexible manufacturing systems, at the level of coordination and control of a set of interacting, communicating concurrent processes, can be modelled and…
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The problem of controlling locomotion is an area in which neuroscience and robotics can fruitfully interact. In this article, I will review research carried out on locomotor central pattern generators (CPGs), i.e. neural circuits capable of…
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We present an iterative Linear-Quadratic- Gaussian method for locally-optimal feedback control of nonlinear stochastic systems subject to control constraints. Previously, similar methods have been restricted to determin- istic unconstrained problems…
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We study a simple but compelling model of network of agents interacting via time-dependent communication links. The model finds application in a variety of fields including synchronization, swarming and distributed decision making. In the model,…
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In this paper, we describe the concept and implementation of a dynamics filter, an online, full-body motion generator that converts a physically infeasible reference motion into a feasible one for the given human figure. Our implementation of the…
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In recent years different lines of evidence have led to the idea that motor actions and movements in both vertebrates and invertebrates are composed of elementary building blocks. The entire motor repertoire can be spanned by applying a well-defined…
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In this paper, we present a theoretical framework for design and analysis of distributed flocking algorithms. Two cases of flocking in free-space and presence of multiple obstacles are considered. We present three flocking algorithms: two for…
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The unfulfilled desire of millions of infertile couples worldwide to have their own biological children results in emotional distress. This study evaluated the emotional reactions of couples attending a combined infertility clinic in Kuwait and…
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Unifying principles of movement have emerged from the computational study of motor control. We review several of these principles and show how they apply to processes such as motor planning, control, estimation, prediction and learning. Our goal is…
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Ph.D. StudentUniversity of Cambridge -
Ph.D. StudentFrankfurt am Main, Germany -
Ph.D. StudentMadrid, Spain -
Ph.D. StudentBoston Dynamics -
Associate ProfessorBrno University of Technology, Faculty of Electrical Engineering and Communication