Magnus Egerstedt

Clyde Martin

Splines, both interpolatory and smoothing, have a long and rich history that has largely been application driven. This book unifies these constructions in a comprehensive and accessible way, drawing from the latest methods and applications to show how they arise naturally in the theory of linear control systems. Magnus Egerstedt and Clyde Martin are leading innovators in the use of control theoretic splines to bring together many diverse applications within a common framework. In this book, they begin with a series of problems ranging from path planning to statistics to approximation. Using the tools of optimization over vector spaces, Egerstedt and Martin demonstrate how all of these problems are part of the same general mathematical framework, and how they are all, to a certain degree, a consequence of the optimization problem of finding the shortest distance from a point to an affine subspace in a Hilbert space. They cover periodic splines, monotone splines, and splines with inequality constraints, and explain how any finite number of linear constraints can be added. This book reveals how the many natural connections between control theory, numerical analysis, and statistics can be used to generate powerful mathematical and analytical tools. This book is an excellent resource for students and professionals in control theory, robotics, engineering, computer graphics, econometrics, and any area that requires the construction of curves based on sets of raw data.

Optimal Control, Statistics, and Path Planning

Control Theoretic Splines

Mladen Luksic

Normally, mathematical research has been divided into 'pure' and 'applied', and only within the past decade has this distinction become blurred. However, differential geometry is one area of mathematics that has not made this distinction and has consistently played a vital role in both general areas. The papers in this volume represent the proceedings of a conference entitled 'Differential Geometry: The Interface Between Pure and Applied Mathematics', which was held in San Antonio, Texas, in April 1986. The purpose of the conference was to explore recent exciting applications and challenging classical problems in differential geometry. The papers represent a tremendous range of applications and techniques in such diverse areas as ordinary differential equations, Lie groups, algebra, numerical analysis and control theory.

The Interface Between Pure and Applied Mathematics : Proceedings of a Conference Held April 23-25, 1986 with Support from the National Science Foundation

Clyde Martin

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