01442nas a2200169   4500008004100000245007400041210006900115300000900184490000700193520088800200653002101088653001301109100001501122700001401137700001501151856010601166       2006                        eng d00aFeedback Encoding for Efficient Symbolic Control of Dynamical Systems0 aFeedback Encoding for Efficient Symbolic Control of Dynamical Sy  a1-160 v513 a<p>The problem of efficiently steering dynamical systems by generating finite input plans is considered. Finite plans are finite–length words constructed on a finite alphabet of input symbols, which could be e.g. transmitted through a limited capacity channel to a remote system, where they can be decoded in suitable control actions. Efficiency is considered in terms of the computational complexity of plans, and in terms of their description length (in number of bits). We show that, by suitable choice of the control encoding, finite plans can be efficiently built for a wide class of dynamical systems, computing arbitrarily close approximations of a desired equilibrium in polynomial time. The paper also investigates how the efficiency of planning is affected by the choice of inputs, and provides some results as to optimal performance in terms of accuracy and range.</p>
10aEmbedded Control10aRobotics1 aBicchi, A.1 aMarigo, A1 aPiccoli, B  uhttp://95.110.227.16/publications/feedback-encoding-efficient-symbolic-control-dynamical-systems.html01440nas a2200181   4500008004100000245007200041210006900113260002400182300001400206520084400220653002101064653001301085100001401098700001901112700001401131700001501145856009801160       2003                        eng d00aFrom nominal to robust planning: The plate-ball manipulation system0 aFrom nominal to robust planning The plateball manipulation syste  aTaipei, TaiwancMay  a3175-31803 a<p>Robotic manipulation by rolling contacts is an appealing method for achieving dexterity with relatively simple hardware. While there exist techniques for planning motions of rigid bodies in rolling contact under nominal conditions, an inescapable challenge is the design of robust controllers of provable performance in the presence of model perturbations. As a preliminary step in this direction, we present in this paper an iterative robust planner of arbitrary accuracy for the plate-ball manipulation system subject to perturbations on the sphere radius. The basic tool is an exact geometric planner for the nominal system, whose repeated application guarantees the desired robustness property on the basis of the Iterative Steering paradigm. Simulation results under perturbed conditions show the effectiveness of the method.</p>
10aEmbedded Control10aRobotics1 aOriolo, G1 aVendittelli, M1 aMarigo, A1 aBicchi, A.  uhttp://95.110.227.16/publications/nominal-robust-planning-plate-ball-manipulation-system.html