The purpose of this reading group is for members to discuss and get to grips with advanced material in the areas of dynamical systems and control theory, beyond what is taught in the MSc lecture courses. The aim is to get a solid handle on advanced problems in control and the techniques used for solving them rather than debating their finer points. Meetings are organised by Yiming Yang, and are usually held on Mondays at 3pm in IF 1.16. Announcements are made through the DSOClets mailing list. Please note that some papers listed below are accessible only within the Informatics computer network.
Adrien Treuille, Seth Cooper, Zoran Popovic, Continuum Crowds, ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH 2006, Volume 25 Issue 3, July 2006
Rahul Narain, Abhinav Golas, Sean Curtis, Ming C. Lin, Aggregate dynamics for dense crowd simulation, ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2009, Volume 28 Issue 5, December 2009
New Insights Concerning Intrinsic Joint Elasticity for Safety Sami Haddadin, Alin Albu-Schaeffer, Oliver Eiberger, and Gerd Hirzinger IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
A New Mechanical Structure for Adjustable Stiffness Devices with Lightweight and Small Size Mitsunori Uemura and Sadao Kawamura IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
A Novel Actuator with Adjustable Stiffness (AwAS ) Amir Jafari, Nikos G. Tsagarakis, Bram Vanderborght and Darwin G. Caldwell IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
Antagonistically Actuated Compliant Joint: Torque and Stiffness Control I. Sardellitti , G. Palli, N. G. Tsagarakis and D. G. Caldwell IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
A concept for a new Energy Efficient Actuator, Stefano Stramigioli Gijs van Oort Edwin Dertien Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 2 - 5, 2008, Xi'an, China
3. David Wooden, Matthew Malchano, Kevin Blankespoor, Andrew Howardy, Alfred A. Rizzi, and Marc Raibert. Autonomous Navigation for BigDog. In ICRA 2010
4. Wim Meeussen, Melonee Wise, Stuart Glaser, Sachin Chitta, Conor Mc Gann, Patrick Mihelich, Eitan Marder-Eppstein, Marius Muja, Victor Eruhimov, Tully Foote, John Hsu, Radu Bogdan Rusu, Bhaskara Marthi, Gary Bradski, Kurt Konolige, Brian Gerkey, Eric Berger. Autonomous Door Opening and Plugging In with a Personal Robot. In ICRA 2010
30th November Matt Howard: Todorov, E. & Tassa, Y. Iterative local dynamic programming IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, 2009
17 November Control theory book club, chapter 3. Ram
10 November Matt Howard: Udwadia, Optimal tracking control of nonlinear dynamical systems, 2008 pdf; Itiki, Kalaba and Udwadia, Inequality Constraints in the Process of Jumping, 1996 pdf
3 November Control theory book club. Stefan Klanke
20 October Control theory book club. Konrad Rawlik. Chapter 2 sections 2.1 to 2.6.
13 October Djordje Mitrovic: Rantzer and Johansson, 1997: Piecewise Linear Quadratic Optimal Control
6 October Control theory book club. Finish chapter 1. Reference -- Eduardo Sontag: Mathematical Control Theory webpage
29 September Michael Herrmann: Dual Control (continued from 25th Aug.)
8 September Control theory book club introductory session. Reference -- Eduardo Sontag: Mathematical Control Theory webpage
25 August Michael Herrmann: Moreau and Sontag, Balancing at the border of instability, 2003 pdf
11 August Adrian Haith: Hilbert Kappen, Path integrals and symmetry-breaking for optimal control theory, 2008 pdf
28 July Ioannis Havoutis: Introduction to Operational Space Control 1, 2, 3
14 July Ram: Tomlin et al. A Game Theoretic Approach to Controller Design for Hybrid Systems, 2000 pdf; Pappas and Simic, Consistent Abstractions of Affine Control Systems, 2002 pdf
16 June, 11.00am Hubert Shum: Jehee Lee and Kang Hoon Lee, Precomputing Avatar Behavior from Human Motion Data, 2006 webpage.
26 May, 11.00am Taku Komura: da Silva et al. Simulation of Human Motion Data using Short-Horizon Model-Predictive Control, 2008 pdf
12 May, 11.00am Sebastian Bitzer: Billard et al. Handbook of Robotics, Chpt 59: Robot Programming by Demonstration. 2007 pdf
14 April, 11:00am Stefan Klanke: Demo of linear quadratic control, infinite and finite horizon. Matlab scripts