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Ergodic Exploration of Distributed Information
- Lauren M. Miller, Yonatan Silverman, M. A. MacIver, T. Murphey
- Computer ScienceIEEE Transactions on Robotics
- 1 February 2016
The results demonstrate that the ergodic exploration of distributed information algorithm outperforms commonly used information-oriented controllers, particularly when distractions are present.
Trajectory optimization for continuous ergodic exploration
An algorithm is presented for generating trajectories for efficient exploration that takes into account a probabilistic representation of information density over a sampling region that generates continuous-time optimal feedback controllers.
Massive increase in visual range preceded the origin of terrestrial vertebrates
- M. A. MacIver, L. Schmitz, U. Mugan, T. Murphey, C. Mobley
- BiologyProceedings of the National Academy of Sciences
- 7 March 2017
It is shown that eyes tripled in size and shifted from the sides to the top of the head long before fish modified their fins into limbs for land, suggesting that seeing opportunities far away provided an informational zip line to the bounty of invertebrate prey on land, aiding selection for limbs.
Scalable Variational Integrators for Constrained Mechanical Systems in Generalized Coordinates
A technique to implement scalable variational integrators for generic mechanical systems in generalized coordinates that uses recursive equations, and caches calculated values, to scale to large systems by the use of generalized coordinates.
Model-Based Control Using Koopman Operators
It is illustrated how the Koopman operator can be used to obtain a linearizable data-driven model for an unknown dynamical process that is useful for model-based control synthesis.
Structured Linearization of Discrete Mechanical Systems for Analysis and Optimal Control
- Elliot R. Johnson, Jarvis A. Schultz, T. Murphey
- EngineeringIEEE Transactions on Automation Science and…
- 31 August 2017
This paper formulates the first- and second-order linearizations of a variational integrator in a manner that is amenable to control analysis and synthesis, creating a bridge between existing analysis and optimal control tools for discrete dynamic systems and variational Integrators for mechanical systems in generalized coordinates with forcing and holonomic constraints.
Sequential Action Control: Closed-Form Optimal Control for Nonlinear and Nonsmooth Systems
A new model-based algorithm that computes predictive optimal controls online and in a closed loop for traditionally challenging nonlinear systems and can avoid local minima and outperform nonlinear optimal controllers and recent case-specific methods in terms of tracking performance and at speeds that are orders of magnitude faster than traditionally achievable ones.
Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration
- A. Mavrommati, E. Tzorakoleftherakis, Ian Abraham, T. Murphey
- MathematicsIEEE Transactions on Robotics
- 28 August 2017
A receding-horizon ergodic control approach, based on hybrid systems theory, that has the potential to fill the gap between coverage, search, and target localization and is distributable across multiple agents so that each agent can independently compute its own control while sharing statistics of its coverage across a communication network.
Convergence-Preserving Switching for Topology-Dependent Decentralized Systems
This work presents a method of ensuring provable stability of decentralized switching systems by employing a hysteresis rule that uses a zero-sum consensus algorithm.
Single integration optimization of linear time-varying switched systems
- T. Caldwell, T. Murphey
- Computer Science, MathematicsProceedings of the American Control Conference
- 1 June 2012
The switching time optimization of time-varying linear switched systems subject to quadratic cost is considered, finding that the number of matrix multiplications needed to compute the gradient grows linearly with respect to thenumber of switching times, resulting in fast execution even for high dimensional optimizations.