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A time-dependent Hamilton-Jacobi formulation of reachable sets for continuous dynamic games
- Ian M. Mitchell, A. Bayen, C. Tomlin
- Mathematics, Computer ScienceIEEE Transactions on Automatic Control
- 11 July 2005
An algorithm for computing the set of reachable states of a continuous dynamic game based on a proof that the reachable set is the zero sublevel set of the viscosity solution of a particular time-dependent Hamilton-Jacobi-Isaacs partial differential equation.
Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment
Quadrotor helicopters are emerging as a popular platform for unmanned aerial vehicle (UAV) research, due to the simplicity of their construction and maintenance, their ability to hover, and their…
A game theoretic approach to controller design for hybrid systems
This work presents a method to design controllers for safety specifications in hybrid systems, using analysis based on optimal control and game theory for automata and continuous dynamical systems to derive Hamilton-Jacobi equations whose solutions describe the boundaries of reachable sets.
Controllers for reachability specifications for hybrid systems
Quadrotor Helicopter Trajectory Tracking Control
The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a eet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation…
Conflict resolution for air traffic management: a study in multiagent hybrid systems
The method models the aircraft and the manoeuvre as a hybrid control system and calculates the maximal set of safe initial conditions for each aircraft so that separation is assured in the presence of uncertainties in the actions of the other aircraft.
Mathematical Modeling of Planar Cell Polarity to Understand Domineering Nonautonomy
- K. Amonlirdviman, N. Khare, D. Tree, Wei-Shen Chen, J. Axelrod, C. Tomlin
- 21 January 2005
A contact-dependent signaling hypothesis is derived and shown by reaction-diffusion, partial differential equation modeling and simulation to fully reproduce PCP phenotypes, including domineering nonautonomy, in the Drosophila wing.
Mobile Sensor Network Control Using Mutual Information Methods and Particle Filters
This paper develops a set of methods enabling an information-theoretic distributed control architecture to facilitate search by a mobile sensor network that captures effects in more general scenarios that are not possible with linearized methods.
The Stanford testbed of autonomous rotorcraft for multi agent control (STARMAC)
- G. Hoffmann, D. Rajnarayan, Steven L. Waslander, D. Dostal, J. Jang, C. Tomlin
- Computer ScienceThe 23rd Digital Avionics Systems Conference…
- 24 October 2004
The design and development of a miniature autonomous waypoint tracker flight control system, and the creation of a multi-vehicle platform for experimentation and validation of multi-agent control algorithms are outlined.