Shortest paths and shortest path distances are important primary queries for users to query in a large graph. In this paper, we propose a new approach to answer shortest path and shortest path distance queries efficiently with an error bound. The error bound is controlled by a user-specified parameter, and the online query efficiency is achieved with prepossessing offline. In the offline prepro...

This paper focuses on the design of robust vision based control of a 2-DOF planar manipulator. The controller is expressed in the image space, where the system can be modeled as a pure integrator with a nonlinear matrix gain. It involves a simple proportional controller with a feedforward velocity input. Robustness is provided by the guarantee of a bounded tracking error, thanks to the online c...

Implementations of stochastic gradient search algorithms such as back propagation typically rely on finite difference (FD) approximation methods. These methods are used to approximate the objective function gradient in steepest descent algorithms as well as the gradient and Hessian inverse in Newton based schemes. The convergence analyses of such schemes critically require that perturbation par...

A control structure that makes possible the integration of a kinematic controller and a neural network (NN) computed-torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and stability is guaranteed by Lyapunov theory. This control algorithm can be applied to the three basic nonholonomic navigation problems: tracki...

A control structure that makes possible the integration of a kinematic controller and a neural network (NN) computed-torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed and stability is guaranteed by Lyapunov theory. This control algorithm is applied to the practical point stabilization problem i.e., stabilization to a small neighb...

We consider the problem of verifying the identity of a distribution: Given the 4 description of a distribution over a discrete finite or countably infinite support, p = (p1, p2, . . .), how 5 many samples (independent draws) must one obtain from an unknown distribution, q, to distinguish, 6 with high probability, the case that p = q from the case that the total variation distance (L1 distance) ...

In this paper, an online optimal control scheme for a class of unknown discrete-time (DT) nonlinear systems is developed. The proposed algorithm using current and recorded data to obtain the optimal controller without the knowledge of system dynamics. In order to carry out the algorithm, a neural network (NN) is constructed to identify the unknown system. Then, based on the estimated system mod...