A new approach for controlling a system of multiple agents by choosing a time-varying density function is presented, employing optimal coverage ideas. In this approach, we specify a time- varying density function that ...

In this paper we present a collection of graphbased methods for determining if a team of mobile robots, subjected to sensor and communication range constraints, can persistently achieve a specified formation. What we mean ...

Humanoid robots require greater software reliability than traditional mechantronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which ...

This paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires ...

In this paper we show how the decentralized estimation of the spectrum of a network can be used to infer its controllability and observability properties. The proposed approach is applied to networked multi-agent systems ...

In order to control systems to meet subjective criteria, one would like to construct objective functions that accurately represent human preferences. To do this, we develop robust estimators based on convex optimization ...

Social animals often form a predator front to charge through an aggregation of prey. It is observed that the nature of the feeding strategy dictates the geometric shape of these charging fronts. Inspired by this observation, ...

A sensor network comprising of RF or radar-based sensors has a deteriorating performance in that the effective sensor footprint shrinks as the power level decreases. Power is typically only drawn from the sensor nodes when ...

Humanoid robots require greater software reliability than traditional mechatronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which distributes ...

This paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires ...