Self-organizing, hybrid, PDE-ODE structure for motion control in informationally-deprived situations

Ahmad A. Masoud*, Samer A. Masoud

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

15 Scopus citations


One of the most challenging problems in robotics is the design of navigators. Navigators are motion controllers that are used to generate a constrained solution trajectory linking a starting point to a target zone for an agent of arbitrary, unknown shape that is operating in an unknown environment. In other words, this class of controllers is required to carry out the unusual task of solving an ill-posed problem. This paper discusses the construction of a hybrid control structure that would enable an agent to successfully deal with the informationally-deprived situation that is described above. The control structure has an evolutionary nature that allows for Autonomous Structural Adaptation of the control relying only on a sequentially acquired sensory input as a source of information. It also has the ability to integrate any available a priori information in its database, regardless of its fragmentation or sparsity, in the planning process to accelerate convergence. The structure is based on a bottom-up, Artificial Life approach to behavior synthesis that allows the integration of experience along with synergy as drivers of the action selection process. Theoretical development of the structure, a realization, and simulation results are provided.

Original languageEnglish
Pages (from-to)2535-2540
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 1998

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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