In this paper we consider the generalization of the classical notion of nonholonomy of smooth constraints in analytical mechanics, to a substantially wider set of systems, allowing...
We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonh...
This paper summarizes the definitions and several of the main results of an approach to hybrid systems, which combines finite automata and linear systems, developed by the author...
Abstract. In this paper, we demonstrate a novel hybrid control synthesis approach using an automotive suspension system. Discrete abstractions are used to approximate the continuou...
Abstract. In this paper we present a dynamic programming formulation of a hybrid optimal control problem for bimodal systems with regional dynamics. In particular, based on optimal...
Peter E. Caines, Magnus Egerstedt, Roland P. Malha...