Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Cooperative Adaptive Control for Cloud-Based Robotics   This paper studies collaboration through the cloud in the context of
cooperative adaptive control for robot manipulators. We first consider the case
of multiple robots manipulating a common object through synchronous centralized
update laws to identify unknown inertial parameters. Through this development,
we introduce a notion of Collective Sufficient Richness, wherein parameter
convergence can be enabled through teamwork in the group. The introduction of
this property and the analysis of stable adaptive controllers that benefit from
it constitute the main new contributions of this work. Building on this
original example, we then consider decentralized update laws, time-varying
network topologies, and the influence of communication delays on this process.
Perhaps surprisingly, these nonidealized networked conditions inherit the same
benefits of convergence being determined through collective effects for the
group. Simple simulations of a planar manipulator identifying an unknown load
are provided to illustrate the central idea and benefits of Collective
Sufficient Richness.

22
The categories of this paper are: chao-dyn
14
The categories of this paper are: math-ph
26
The categories of this paper are: bayes-an
6
The categories of this paper are: astro-ph
7
The categories of this paper are: hep-th
27
The categories of this paper are: comp-gas
0
The categories of this paper are: hep-ph
9
The categories of this paper are: nlin
32
The categories of this paper are: atom-ph
31
The categories of this paper are: ao-sci
11
The categories of this paper are: hep-lat
24
The categories of this paper are: dg-ga
30
The categories of this paper are: q-alg
16
The categories of this paper are: stat
35
The categories of this paper are: mtrl-th
28
The categories of this paper are: alg-geom