Bill Goodwine

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| System integration is the elephant in the china store of large-scale cyber–physical system (CPS) design. It would be hard to find any other technology that is more undervalued scientifically and at the same time has bigger impact on the presence and future of engineered systems. The unique challenges in CPS integration emerge from the heterogeneity of(More)
This paper considers nonlinear kinematic controllability of a class of systems called stratified. Roughly speaking, such stratified systems have a configuration space which can be decomposed into submanifolds upon which the system has a different set of equations of motion. For such systems, then, considering controllability is difficult because of the(More)
In cyberphysical systems, where compositionality of design is an important requirement, passivity and dissipativity based design methods have shown a lot of promise. Although these concepts are classical, their application to cyberphysical systems poses new and interesting challenges. The aim of this paper is to summarize some of the on-going work in this(More)
This paper considers the “reduction” problem for distributed robotic systems. In particular, controllability of systems containing multiple instances of identical robotic systems or components where the overall system is invariant with respect to interchanging these identical robots or components is considered. The main result is a proposition which shows(More)
Many control systems contain control inputs which are constrained to be non–negative. Unfortunately, the unilateral nature of such inputs makes them similar to a drift term, and correspondingly complicates any attempt to determine controllability. We present a controllability test in which Lie brackets are characterized as “good” or “bad,” from which(More)
This paper presents a novel robotic platform for experimental research in large-scale distributed robotics and mobile sensor networks. The MICAbot is both inexpensive and flexible making it useful for a wide range of experimental goals. In this paper, we provide a description of the MICAbot design. Furthermore, we also discuss general design considerations(More)
In this paper we present a new methodology to achieve visionbased control using a mobile manipulator to reach a required threedimensional target position and orientation. Examples of mobile manipulators include standard forklifts and backhoes, which have a fixed manipulator mounted on a mobile platform. The overall objective of this methodology is to apply(More)
The paper addresses dynamic and control issues related to a dynamical model called the classical shimmying wheel. The classical shimmying wheel models the rolling dynamics of many physical rolling systems such as aircraft nose wheels, motorcycles, automotive systems and tractor{ trailer systems. Such system can exhibit undesirable unstable rolling motion,(More)