Path-Planning for Feature-Recognition and Classification using Information Theoretic Methods
Tim Chung, Joel Burdick, Richard Murray

Abstract.This project investigates the role of information-theoretic techniques in cooperative multi-agent systems. These techniques are used to govern the path planning of agents to optimally classify features of interest by improving the quality of the measurements. Sensor measurements are assumed to be in the presence of noise. We consider issues associated with distributed systems such as sensor fusion of information and formation control of relative vehicle locations. The objective is to articulate the theory underlying the relationship between sensing tasks and cooperative control. (full report)

Decomposition of Human Motion into Dynamics Based
Primitives with Application to Drawing Tasks
Domatilla Del Vecchio, Richard Murray, Pietro Perona

Abstract. Using tools from dynamical systems and systems identification we develop a framework for the study of primitives for human motion, which we refer to as movemes. The objective is understanding human motion by decomposing it into a sequence of elementary building blocks that belong to a known alphabet of dynamical systems. We develop a segmentation and classification algorithm in order to reduce a complex activity into the sequence of movemes that have generated it. We test our ideas on data sampled from five human subjects who were drawing figures using a computer mouse. Our experiments show that we are able to distinguish between movemes and recognize them even when they take place in activities containing an unspecified number of movemes. (full report)

Vision as a Compensatory Mechanism for Disturbance Rejection in Upwind Flight
Michael Reiser, Michael Dickinson, Sean Humbert, Richard Murray

For several decades the visuo-motor control system of flies has been extensively studied. However, recent results have cast new light on many long standing assumptions about the operation of the flight control system. In this project we seek to demonstrate that through a faithful model of the fly's behavior, it is possible to provide some context within which controlled behavioral assays can be interpreted. (full report)