• Control-Driven Mapping and Planning 

      Wooden, David; Powers, Matthew; MacKenzie, D. C.; Balch, Tucker; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-11)
      Layered hybrid controllers typically include a planner at the top level with reactive control at the lower levels. The planner considers the state of the robot in a global context. The low-level controllers consider ...
    • Executive Decision Support: Single-Agent Control of Multiple UAVs 

      Ding, Xu Chu; Powers, Matthew; Egerstedt, Magnus B.; Young, Shih-Yih (Ryan); Balch, Tucker (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      One challenge facing coordination and deployment of unmanned aerial vehicles (UAVs) today is the amount of human involvement needed to carry out a successful mission. Currently, control and coordination of UAVs typically ...
    • Learning from Examples in Unstructured, Outdoor Environments 

      Sun, J.; Mehta, Tejas R.; Wooden, David; Powers, Matthew; Rehg, J.; Balch, Tucker; Egerstedt, Magnus B. (Georgia Institute of TechnologyWiley Periodicals, Inc., 2006)
      In this paper, we present a multi-pronged approach to the "Learning from Example" problem. In particular, we present a framework for integrating learning into a standard, hybrid navigation strategy, composed of both ...
    • A Modular, Hybrid System Architecture for Autonomous, Urban Driving 

      Wooden, David; Powers, Matthew; Egerstedt, Magnus B.; Christensen, Henrik I.; Balch, Tucker (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-09-26)
      Autonomous navigation in urban environments inevitably leads to having to switch between var- ious, sometimes con icting control tasks. Sting Racing, a collaboration between Georgia Tech and SAIC, has developed a modular ...
    • The Sting Racing Team's Entry to the Urban Challenge 

      Powers, Matthew; Wooden, David; Egerstedt, Magnus B.; Christensen, Henrik I.; Balch, Tucker (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2011)
    • What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs 

      Egerstedt, Magnus B.; Balch, Tucker; Dellaert, Frank; Delmotte, Florent; Khan, Z. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-04)
      In this paper, we study the problem of going from a real-world, multi-agent system to the generation of control programs in an automatic fashion. In particular, a computer vision system is presented, capable of ...