Michael Sherback

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We describe a simple and intuitive policy gradient method for improving parametrized quadrocopter multi-flips by combining iterative experiments with information from a first-principles model. We start by formulating an N-flip maneuver as a five-step primitive with five adjustable parameters. Optimization using a low-order first-principles 2D vertical plane(More)
The Flying Machine Arena is a platform for experiments and demonstrations with fleets of small flying vehicles. It utilizes a distributed, modular architecture linked by robust communication layers. An estimation and control framework along with built-in system protection components enable prototyping of new control systems concepts and implementation of(More)
This paper describes the methods used by the 2005 Cornell RoboCup team to generate and execute trajectories for its holonomic omnidirectional robots. The vehicles are described and equations of motion are presented. The estimation, motion planning, and control methods are described in the order in which they are executed by the system components.(More)
Advanced transceivers generally require a multi-lane approach, which necessitates the integration of multiple subcomponents. The use of mature, generally available, and low-cost single element components such as electro-absorption modulated lasers, silica planar lightwave circuits, and direct-modulated distributed feedback lasers, integrated in a hybrid(More)
We analyzed age-related changes in motor response in a visuomotor compensatory tracking task. Subjects used a manipulandum to attempt to keep a displayed cursor at the center of a screen despite random perturbations to its location. Cross-correlation analysis of the perturbation and the subject response showed no age-related increase in latency until the(More)
We present a method of characterizing visuomotor response by inferring subject-specific physiologically meaningful parameters within the framework of optimal control theory. The characterization of visuomotor response is of interest in the assessment of impairment and rehabilitation, the analysis of man--machine systems, and sensorimotor research. We model(More)
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