Abstract
Hexapod robots, with their six-legged design, excel in stability and adaptability on challenging terrain but pose significant control challenges due to their high degrees of freedom. While reinforcement learning (RL) has been explored for robot navigation, few studies have systematically compared on-policy and off-policy methods for multi-legged locomotion. This work presents a comparative study of SARSA and Q-Learning for trajectory control of a simulated hexapod robot, focusing on the influence of learning rate (alpha), discount factor (gamma), and eligibility trace (lambda). The evaluation spans eight initial poses, with performance measured through lateral deviation (Ey), orientation error (E theta), and iteration count. Results show that Q-Learning generally achieves faster convergence and greater stability, particularly with higher gamma and lambda values, while SARSA can achieve competitive accuracy with careful parameter tuning. The findings demonstrate that eligibility traces substantially improve learning precision and provide practical guidelines for robust RL-based control in multi-legged robotic systems.

Abstract

Abstract
The paper presents a new control concept based on the process moment instead of the process states or the process output signal. The control scheme is based on separate control of reference tracking and disturbance rejection. The tracking control is achieved by additionally feeding the input of the process model by the scaled output signal of the process model. The advantage of such feedback is that the final state of the process output can be analytically calculated and used for control instead of the actual process output value. The disturbance rejection, including model imperfections, is controlled by feeding back the filtered difference between the process output and the model output to the process input. The performance of tracking and disturbance rejection is simply controlled by two user-defined gains. Several examples have shown that the new control method provides very good and stable tracking and disturbance rejection performance.

Abstract
Information Systems (IS) projects are critical for organizational development, both in the private and public sectors. The relevance and complexity inherent in this type of project require management to be fully aware of the factors that influence success. This study contributes to the literature on public-sector IS project management by providing a comprehensive set of Success Factors (SFs) for different levels of the administration. The research method comprised a literature review, six case studies of central government, local government, and other types of administration, and a questionnaire-based survey of public sector IS experts. Forty-four SFs were identified, described, and organized in nine categories: organization and environment; strategy; project; scope; project manager and project team; stakeholders; vendors; clients and users; and monitoring and control. Our results add a new perspective to the theoretical body of knowledge on the SFs for IS projects in the public sector.

Abstract

Abstract