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In many areas of science and engineering there is a need for techniques to robustly extract velocity and its derivatives from a finite sample of observed positions. The extracted information can be used to infer related quantities such as curvature and speed, which are important for analysis of strategies and feedback laws associated with the motion. In(More)
The limited ability to simultaneously perform multiple tasks is one of the most salient features of human performance and a defining characteristic of controlled processing. Based on the assumption that multitasking constraints arise from shared representations between individual tasks, we describe a graph-theoretic approach to analyze these constraints.(More)
i Acknowledgement I would like to take this opportunity to thank my advisor Prof. Ravi N. Banavar for his invaluable guidance and support. The one and a half year long journey through the world of port Hamiltonian systems wouldn't have been possible without his guidance. The countlessly many discussions that I have had with him helped me to come in tune(More)
Investigation of synchronization phenomena in networks of coupled nonlinear oscillators plays a pivotal role in understanding the behavior of biological and mechanical systems with oscillatory properties. We derive a general sufficient condition for synchronization of a network of nonlinear oscillators using a nonsmooth Lyapunov function, and we obtain(More)
Drawing inspiration from flight behavior in biological settings (e.g. territorial battles in dragonflies, and flocking in starlings), this paper demonstrates two strategies for coverage and flocking. Using earlier theoretical studies on mutual motion camouflage, an appropriate steering control law for area coverage has been implemented in a laboratory(More)
Cyclic pursuit frameworks, which are built upon pursuit interactions between neighboring agents in a cycle graph, provide an efficient way to create useful global behaviors in a collective of autonomous robots. Previous work has considered cyclic pursuit with a constant bearing (CB) pursuit law and has demonstrated the existence of circling equilibria for(More)
This paper introduces a formal method to model the level of demand on control when executing cognitive processes. The cost of cognitive control is parsed into an intensity cost which encapsulates how much additional input information is required so as to get the specified response, and an interaction cost which encapsulates the level of interference between(More)