Motion planning and control of cooperative robotic systems

摘要

I would like to express my gratitude to the people who made an important difference and played a vital role in the successful completion of my Doctoral studies at the University of Pennsylvania. I am grateful to my advisor Professor Vijay Kumar without whose competence, dedication, generosity, and vision this dissertation would not have been possible. Professor Kumar has been my mentor and an inspiring role model. His energy and relentless support encouraged me towards the completion of my Masters in Mathematics. Professor James Ostrowski, my co-advisor since 1996, provided valuable advice and insight towards my work. I am very thankful for his opinion and guidance during the course of my dissertation. I am very thankful to Professor Joel Burdick (Caltech), Chairman of the committee, Professor G. K. Ananthasuresh, Professor Ruzena Bajcsy, Professor Vijay Kumar and Professor James Ostrowski for agreeing to be the members of my dissertation committee and for taking the time to read my thesis and provide valuable suggestions. This dissertation has allowed me to work with people who are both competent and compassionate. I have been fortunate to receive constant guidance and support from Professor