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    Optimal Trajectory Planning and Smoothing Splines 

    Egerstedt, Magnus; Martin, Clyde F. (Georgia Institute of Technology, 2001-07)
    In this paper, some of the relationships between optimal control and trajectory planning are examined. When planning trajectories for linear control systems, a demand that arises naturally in air traffic control or noise ...
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    Obstacle Avoidance for Mobile Robots Using Switching Surface Optimization 

    Boccadoro, Mauro; Egerstedt, Magnus B.; Wardi, Yorai (Georgia Institute of Technology, 2005-07)
    This paper studies the problem of letting an autonomous mobile robot negotiate obstacles in an optimal manner. In particular, a multi-modal control problem is addressed, where different modes of operation control the ...
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    Constructing and Implementing Motion Programs for Robotic Marionettes 

    Martin, Patrick; Johnson, Elliot; Murphey, Todd D.; Egerstedt, Magnus (Georgia Institute of Technology, 2011-04)
    This technical note investigates how to produce control programs for complex systems in a systematic manner. In particular, we present an abstraction-based approach to the specification and optimization of motion programs ...
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    Optimal Control of Autonomous Switched-Mode Systems: Gradient-Descent Algorithms with Armijo Step Sizes 

    Wardi, Yorai; Egerstedt, Magnus B.; Hale, M. (Georgia Institute of Technology, 2015-12)
    This paper concerns optimal mode-scheduling in autonomous switched-mode hybrid dynamical systems, where the objective is to minimize a cost-performance functional defined on the state trajectory as a function of the schedule ...
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    Multi-Pendulum Synchronization Using Constrained Agreement Protocols 

    Chipalkatty, Rahul; Egerstedt, Magnus B.; Azuma, Shun-ichi (Georgia Institute of Technology, 2009-04)
    This paper considers the problem of coordinating multiple pendula attached to mobile bases. In particular, the pendula should move in such a way that their motion is synchronized, which calls for two problems to be ...
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    Human-in-the-Loop: Terminal Constraint Receding Horizon Control with Human Inputs 

    Chipalkatty, Rahul; Egerstedt, Magnus B. (Georgia Institute of Technology, 2010-05)
    This paper presents a control theoretic formulation and optimal control solution for integrating human control inputs subject to linear state constraints. The formulation utilizes a receding horizon optimal controller ...
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    Constrained Agreement Protocols for Tree Graph Topologies 

    Chipalkatty, Rahul; Egerstedt, Magnus B. (Georgia Institute of Technology, 2011-02)
    This paper presents a novel way of manipulating the initial conditions in the consensus equation such that a constrained agreement problem is solved across a distributed network of agents, particularly for a network ...
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    Minimizing Mobility and Communication Energy in Robotic Networks: an Optimal Control Approach 

    Jaleel, Hassan; Wardi, Yorai; Egerstedt, Magnus B. (Georgia Institute of Technology, 2014-06)
    This paper concerns the problem of minimizing the sum of motion energy and communication energy in a network of mobile robots. The robotic network is charged with the task of transmitting sensor information from a given ...
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    Optimization of Multiagent Systems with Increasing State Dimensions: Hybrid LQ Approach 

    Galván-Guerra, R.; Azhmyakov, V.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2011-06)
    In this paper, we study a specific optimal control problem associated with a multiagent dynamic system. The interest is placed on minimization of the tracking error in the multiagent leader-follower model. We replace this ...
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    Optimal Switching Control of a Step-Down DC-DC Converter 

    Kawashima, Hiroaki; Taylor, David G.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
    This paper applies a general computational technique for optimal control of switched-mode hybrid systems, recently developed by the authors, to voltage-regulation problems in a step-down DC-DC converter. Unlike existing ...
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    AuthorEgerstedt, Magnus B. (21)Tsiotras, Panagiotis (5)Chipalkatty, Rahul (4)Mehta, Tejas R. (4)Wardi, Yorai (4)Anderson, Ross P. (2)Axelsson, Henrik (2)Bakolas, Efstathios (2)Book, Wayne John (2)Ding, Xu Chu (2)... View MoreSubject
    Optimal control (42)
    Hybrid systems (5)Automatic control (4)Robotics (4)Unmanned aerial vehicles (3)Adaptive control (2)Autonomous agents (2)Distributed computation (2)Flexible arms (2)Linear systems (2)... View MoreDate Issued2010 - 2016 (28)2000 - 2009 (11)1990 - 1999 (1)1985 - 1989 (2)Has File(s)Yes (40)No (2)
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