Baoyang Deng

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— This paper studies bifurcations and multiple solutions of the optimal control problem for mobile robotic systems. While the existence of multiple local solutions to an optimization problem is not unexpected, the nature of the solutions are such that a relatively rich and interesting structure is present, which potentially could be exploited for controls(More)
This paper presents the relatively rich and interesting bifurcation structure that is present in the nature of optimal solutions to a multi-robot formation control problem. The problem considered is a two point nonlinear boundary-value problem that can only be solved numerically. Since common numerical solution techniques such as the shooting method are(More)
— This paper considers the 'reduction' problem for large-scale distributed control systems. In particular, we consider control-theoretic concepts for control systems containing multiple instances of identical controllers or components where the overall system is invariant with respect to interchanging these identical components. The main results are(More)
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