• Autonomous Formation Switching for Multiple, Mobile Robots 

      Axelsson, Henrik; Muhammad, Abubakr; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Federation of Automatic Control, 2003-06)
      In this paper we investigate the question concerning what multi-agent formations to use in a given situation. In particular, we show how it is possible to produce a control strategy for teams of mobile robots that switches ...
    • Optimal Switching Surfaces in Behavior-Based Robotics 

      Axelsson, Henrik; Egerstedt, Magnus B.; Wardi, Yorai (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-12)
      In this paper an optimal solution is presented for the problem of avoiding obstacles while progressing towards a goal for a single robot. In particular, the solution is obtained by allowing the robot to switch between ...
    • Reactive Robot Navigation Using Optimal Timing Control 

      Axelsson, Henrik; Egerstedt, Magnus B.; Wardi, Yorai (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-06)
      In this paper a solution is presented for the problem of avoiding obstacles while progressing towards a goal for a single robot. In particular, an optimal solution is obtained by allowing the robot to switch between a ...