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    Learnability for Dynamical Systems

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    LearnMTNS14.pdf (626.8Kb)
    Date
    2014-07
    Author
    O’Flaherty, Rowland
    Egerstedt, Magnus
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    Abstract
    This paper takes a step towards defining what it means for a dynamical system, such as a robot, to be able to learn through the notion of learnability. It takes a system-theoretic view to define what learning is and establishes when a system can and can not learn. Equipped with this definition of learnability, we provide a learnability result for linear systems with quadratic costs that is then applied to two different types of mobile robots, namely a simulated two-wheel inverted pendulum robot and a real, locomoting robotic platform.
    URI
    http://hdl.handle.net/1853/52373
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    • Georgia Robotics and InTelligent Systems Laboratory (GRITS) [230]
    • Georgia Robotics and InTelligent Systems Laboratory (GRITS) Publications [230]

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