Cellular Decomposition and Classification of a Hybrid System (Abstract)

Abstract

Robots are often modeled as hybrid systems providing a consistent, formal account of the varied dynamics associated with the loss and gain of kinematic freedom as a machine impacts and breaks away from its environment [1]. This hybrid structure induces an abstract simplicial complex indexed by the active contact constraints, where each vertex in the complex is a single constraint.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2014
Accession Number
AD1146602

Entities

People

  • Aaron M. Johnson
  • Daniel E. Koditschek

Organizations

  • University of Pennsylvania

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Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Boundaries
  • Classification
  • Cognitive Systems Engineering
  • Computers
  • Decomposition
  • Dynamics
  • Engineering
  • Environment
  • Hybrid Systems
  • Pennsylvania
  • Robotics
  • Storage
  • Systems Engineering
  • Universities

Readers

  • Operations Research
  • Robotics and Automation.
  • Theoretical Analysis.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control