Prescribing transient and asymptotic behaviour to deterministic systems with stochastic initial conditions

We study a containment control problem (CCP) and a shape control problem (SCP) for systems whose initial condition is a random variable with known distribution. The two control problems both require exponential convergence to a desired trajectory, which is complemented by either; (i) a required cumulative distribution over a prescribed...

Quantitative Assessment at Task-Level for Performance of Robotic Configurations and Task Plans

Given a robotic manipulation task, decision on which robotic configuration (robotic system and necessary peripherals, including assistant tools, sensor systems, and so on.) to use and evaluating performance of the solution remains as an open, challenging but a meaningful problem. This work attempts to address this problem by defining the concept...