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H. Choset, W. Burgard, S. Hutchinson, G. Kantor, L. E. Kavraki, K. Lynch, and S. Thrun. Principles of robot motion: Theory, agorithms, and implementation. MIT Press, June 2005.    Steven M. LaValle. Planning Algorithms. Cambridge University Press, New York, NY, USA, 2006.    M. Miskowicz. Event-Based Control and Signal Processing. Embedded Systems. CRC Press, 2015.    http  Karl J. Aström. Event Based Control, pages 127–147. Springer Berlin Heidelberg, Berlin, Heidelberg, 2008.    DOI  http 
Summary. In spite of the success of traditional sampled-data theory in computer control it has some disadvantages particularly for distributed, asynchronous, and multi-rate system. Event based sampling is an alternative which is explored in this paper. A simple example illustrates the differences between periodic and event based sampling. The architecture of a general structure for event based control is presented. The key elements are an event detector, an observer, and a control signal generator, which can be regarded as a generalized data-hold. Relations to nonlinear systems are discussed. Design of an event based controller is illustrated for a simple model of a micro-mechanical accelerometer.
Edward A Lee and David G Messerschmitt. Synchronous data flow. Proceedings of the IEEE, 75(9):1235–1245, 1987.    Rajit Manohar and K Mani Chandy. Delta-dataflow networks for event stream processing. pages 1–6, June 2010.    Richard Szeliski. Computer Vision: Algorithms an Applications. Springer, 2010.    http  David Forsyth and Jean Ponce. Computer Vision: A Modern Approach. Prentce Hall, Upper Saddle River, NJ, 2011.    Richard Hartley and Andrew Zisserman. Multiple View Geometry in Computer Vision. Cambridge University Press, second edition, 2004.    Romano M DeSantis. Modeling and path-tracking control of a mobile wheeled robot with a differential drive. Robotica, 13(4):401–410, 1995.    Albert Einstein. Zur Elektrodynamik bewegter Körper. (German) On the electrodynamics of moving bodies. Annalen der Physik, 322(10):891–921, 1905.    DOI  Kaare Brandt Petersen and Michael Syskind Pedersen. The matrix cookbook.    .pdf 
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