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Feedback can reduce the specification complexity of motor programs

M. Egerstedt, R. Brockett
Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)  

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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
more » ... nputs. 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.
doi:10.1109/cdc.2001.981138 fatcat:lujum3im4rcirbakoesy2pt45e
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M. Egerstedt, R. Brockett. "Feedback can reduce the specification complexity of motor programs." Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)