Feedback Can Reduce the Specification Complexity of Motor Programs

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38562

Title: Feedback Can Reduce the Specification Complexity of Motor Programs
Author: Egerstedt, Magnus B. ; Brockett, Roger W.
Abstract: In this paper, we show that when it is possible to use feedback in the specification of "motor programs," the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a factor that reflects the richness of the available feedback signals. The model on which this work is based is that of a finite automaton, modified in such a way that instruction processing is akin to the way in which difference or differential equations "process" piecewise constant inputs. In terms of such "free-running" automata, we show that when feedback is available the length of the shortest description can be reduced by a factor depending on the ratio of the size of the entire state space to the size of the set of states for which feedback is locally effective.
Description: (c) 2003 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier 10.1109/TAC.2002.808466
Type: Article
URI: http://hdl.handle.net/1853/38562
ISSN: 0018-9286
Citation: M. Egerstedt and R.W. Brockett. Feedback Can Reduce the Specification Complexity of Motor Programs. IEEE Transactions on Automatic Control, Vol. 48, No. 2, pp. 213--223, Feb. 2003.
Date: 2003-02
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Harvard University. Division of Engineering and Applied Sciences
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Automata
Complexity theory
Feedback
Motion control

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