Learn More
— This paper proposes a new approach to solve the controllability (reachability) problem of the sampled-data/discrete-time piecewise affine systems. First, an algebraic characterization for the system to be controllable/reachable is derived. Next, based on this characterization, an approach to determine if the system is controllable/reachable in a(More)
—We consider the problem of designing controllers to steer mobile robots to the source (the minimizer) of a signal field. In addition to the mobility constraints, e.g., posed by the nonholo-nomic dynamics, we assume that the field is completely unknown to the robot and the robot has no knowledge of its own position. Furthermore, the unknown field is(More)
Optimal switch-time control is an area that investigates how best to switch between different control modes. In this paper we present an algorithm for solving the optimal switch-time control problem for single-switch, linear systems where the state of the system is only partially known through the outputs. A method is presented that both guarantees that the(More)
— This paper addresses a broadcast control problem for multi-agent coordination. The " broadcast control " means governing multi-agent systems by sending the same signal to all the agents indiscriminatingly, under the assumption that there is no agent-to-agent communication. The problem studied here is to find both the information to be broadcasted and the(More)
— We consider the problem of designing controllers for nonholonomic mobile robots converging to the source (minimum) of a field. In addition to the mobility constraints posed by the nonholonomic dynamics, we assume that the field is completely unknown to the robot and the robot has no knowledge of its own position. Furthermore, the field is randomly(More)