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Globally Stable Closed Loops Imply Autonomous Behavior

International Symposium on Intelligent Control, August 2009

D. E. Koditschek
Electrical Engineering, Yale University
Full PDF | Scholarly Commons

Abstract
       An autonomous machine can operate successfully in a diversity of situations without resort to intervention by “higher level” processes, for example, humans. Physical machines are ultimately force or torque controlled dynamical systems: the specification of input torques, whether via syntactic prescriptions or feedback controllers, results in certain classes of vector fields. Control procedures whose resulting vector fields have globally attracting god states may properly be said to evince autonomous behavior. This paper reviews various procedures developed within the Yale Robotics Lab that result in provably autonomous behavior according to the criterion developed above. Simulation results and physical experimental studies suggest the practicability of these methods.
BibTeX entry
@inproceedings{kod-isic-1990,
  author       = {D. E. Koditschek},
  title        = {Globally Stable Closed Loops Imply Autonomous Behavior},
  booktitle    = {International Symposium on Intelligent Control},
  year         = {1990},
  address      = {Philadelphia, Pennsylvania, USA},
  month        = {September},
}

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