IEEE - Institute of Electrical and Electronics Engineers, Inc. - Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics

Author(s): Steve Heim ; Alexander Sprowitz
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1 - 14
ISSN (Electronic): 1941-0468
ISSN (Paper): 1552-3098
DOI: 10.1109/TRO.2019.2910739
Regular:

Properly designing a system to exhibit favorable natural dynamics can greatly simplify designing or learning the control policy. However, it is still unclear what constitutes favorable natural... View More

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