We suggest that as people move to construe robots as social agents, interact with them, and treat... more We suggest that as people move to construe robots as social agents, interact with them, and treat them as capable of social ties, they might develop (close) relationships with them. We then ask what kind of relationships can people form with bots, what functions can bots fulfill, and what are the societal and moral implications of such relationships.
Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems, 2015
This volume contains the papers presented at the Sixth ACM/IEEE International Conference on Cyber... more This volume contains the papers presented at the Sixth ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS 2015), which was held with the Cyber-Physical Systems Week in Seattle, Washington, USA, on 13--16 April 2015. ICCPS has been the flagship conference on Cyber-Physical Systems (CPS) that tightly couple the cyber aspects of computing and communications with the physical aspects of dynamics and engineering. ICCPS, as an integral part of CPS Week, is pleased to be co-located with its sister conferences that focus on various components of CPS including embedded systems, hybrid systems, real-time systems, and wireless sensor networks. ICCPS aims to showcase cutting-edge research that spans both the cyber and physical aspects of CPS. In the process, it will bring together engineers from various disciplines and computer scientists to create the scientific foundations, identify new principles, present novel architectures, demonstrate promising applications, and enable pow...
Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)
ABSTRACT Many robotic assembly tasks can be viewed as multi-tier peg-in-hole, or “peg-in-maze” pr... more ABSTRACT Many robotic assembly tasks can be viewed as multi-tier peg-in-hole, or “peg-in-maze” problems. Such tasks are hybrid system control problems since they combine continuous movement with event detection. This paper presents Hybrid cc as a software tool for simulating hybrid systems and uses it to simulate two-dimensional multi-tier peg-in-hole problems
Proceedings of the 36th IEEE Conference on Decision and Control
This paper collects work on the stability analysis of hybrid systems. The hybrid systems consider... more This paper collects work on the stability analysis of hybrid systems. The hybrid systems considered are those that combine continuous dynamics (represented by differential or difference equations) with finite dynamics, usually thought of as being a finite automaton. We review multiple Lyapunov functions as a tool for analyzing Lyapunov stability of general hybrid systems. Background results, the author's introductory work, and subsequent extensions are covered. Specializing to hybrid systems with linear dynamics in each constituent mode and linear jump operators, we review some key theorems of Barabanov-Staroshilov (1988), and give corollaries encompassing several recently-derived “stability by first approximation” theorems in the literature. We also comment on the use of computational tests for stability of hybrid systems, and the general complexity. The result is a tutorial on the state of the art in theory and computation of hybrid systems stability
Proceedings of the 1996 IEEE International Symposium on Intelligent Control
Here, we look at hybrid control systems as those combining continuous and discrete outputs, state... more Here, we look at hybrid control systems as those combining continuous and discrete outputs, states, and controls. We first outline general hybrid control research areas. Then, we give a mathematical model of hybrid control systems. We end by elucidating issues in each of the research areas in light of previous results
Proceedings of 1995 34th IEEE Conference on Decision and Control
The authors previously (1994) proposed a general, unified framework for hybrid control problems t... more The authors previously (1994) proposed a general, unified framework for hybrid control problems that encompasses several types of hybrid phenomena and several models of hybrid systems. An existence result was obtained for optimal controls. The value function associated with this problem satisfies a set of “generalized quasi-variational inequalities” (GQVIs). We give a classification of the types of hybrid systems models
We suggest that as people move to construe robots as social agents, interact with them, and treat... more We suggest that as people move to construe robots as social agents, interact with them, and treat them as capable of social ties, they might develop (close) relationships with them. We then ask what kind of relationships can people form with bots, what functions can bots fulfill, and what are the societal and moral implications of such relationships.
Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems, 2015
This volume contains the papers presented at the Sixth ACM/IEEE International Conference on Cyber... more This volume contains the papers presented at the Sixth ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS 2015), which was held with the Cyber-Physical Systems Week in Seattle, Washington, USA, on 13--16 April 2015. ICCPS has been the flagship conference on Cyber-Physical Systems (CPS) that tightly couple the cyber aspects of computing and communications with the physical aspects of dynamics and engineering. ICCPS, as an integral part of CPS Week, is pleased to be co-located with its sister conferences that focus on various components of CPS including embedded systems, hybrid systems, real-time systems, and wireless sensor networks. ICCPS aims to showcase cutting-edge research that spans both the cyber and physical aspects of CPS. In the process, it will bring together engineers from various disciplines and computer scientists to create the scientific foundations, identify new principles, present novel architectures, demonstrate promising applications, and enable pow...
Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)
ABSTRACT Many robotic assembly tasks can be viewed as multi-tier peg-in-hole, or “peg-in-maze” pr... more ABSTRACT Many robotic assembly tasks can be viewed as multi-tier peg-in-hole, or “peg-in-maze” problems. Such tasks are hybrid system control problems since they combine continuous movement with event detection. This paper presents Hybrid cc as a software tool for simulating hybrid systems and uses it to simulate two-dimensional multi-tier peg-in-hole problems
Proceedings of the 36th IEEE Conference on Decision and Control
This paper collects work on the stability analysis of hybrid systems. The hybrid systems consider... more This paper collects work on the stability analysis of hybrid systems. The hybrid systems considered are those that combine continuous dynamics (represented by differential or difference equations) with finite dynamics, usually thought of as being a finite automaton. We review multiple Lyapunov functions as a tool for analyzing Lyapunov stability of general hybrid systems. Background results, the author's introductory work, and subsequent extensions are covered. Specializing to hybrid systems with linear dynamics in each constituent mode and linear jump operators, we review some key theorems of Barabanov-Staroshilov (1988), and give corollaries encompassing several recently-derived “stability by first approximation” theorems in the literature. We also comment on the use of computational tests for stability of hybrid systems, and the general complexity. The result is a tutorial on the state of the art in theory and computation of hybrid systems stability
Proceedings of the 1996 IEEE International Symposium on Intelligent Control
Here, we look at hybrid control systems as those combining continuous and discrete outputs, state... more Here, we look at hybrid control systems as those combining continuous and discrete outputs, states, and controls. We first outline general hybrid control research areas. Then, we give a mathematical model of hybrid control systems. We end by elucidating issues in each of the research areas in light of previous results
Proceedings of 1995 34th IEEE Conference on Decision and Control
The authors previously (1994) proposed a general, unified framework for hybrid control problems t... more The authors previously (1994) proposed a general, unified framework for hybrid control problems that encompasses several types of hybrid phenomena and several models of hybrid systems. An existence result was obtained for optimal controls. The value function associated with this problem satisfies a set of “generalized quasi-variational inequalities” (GQVIs). We give a classification of the types of hybrid systems models
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Papers by Michael Branicky