The control-theoretic notion of controllability captures the ability to guide a systems behavior toward a desired state with a suitable choice of inputs. Contro

The two topics at the heart of this thesis are how to improve control of industrial manipulators and how to reason about the role of models in automatic control

In model predictive control (MPC) an optimization problem has to be solved at each time step, which in real-time applications makes it important to solve these

This thesis studies a class of sensor management problems called informative path planning (IPP). Sensor management refers to the problem of optimizing control