Abstract: This paper builds on the existing adaptive robust control (ARC) synthesis method introduced by Yao et al. and presents a new method to synthesize ARCs. Based on dynamic backstepping, the approach explicitly addresses the ...

Abstract: A control strategy is employed that modifies the stochastic escape times from one basin of attraction to another in a model of a doublegyre flow. The system studied captures the behavior of a large class of fluid flows ...

Abstract: We consider planar navigation for a polygonal, holonomic robot in an obstacle-filled environment in SE(2). To determine the free space, we first represent obstacles as point clouds in the robot configuration space (C). A ...