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An infinite horizon optimal regulation problem is solved online for a deterministic control-affine nonlinear dynamical system using a state following (StaF) kernel method to approximate the value function. Unlike traditional methods that aim to approximate a function over a large compact set, the StaF kernel method aims to approximate a function in a small neighborhood of a state that travels within...
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using only local feedback under limited and intermittent sensing. Due to the intermittent sensing, constant position feedback may not be available for agents all the time...
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