• Multi-Pendulum Synchronization Using Constrained Agreement Protocols 

      Chipalkatty, Rahul; Egerstedt, Magnus B.; Azuma, Shun-ichi (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • An Optimal Control Approach to Mode Generation in Hybrid Systems 

      Egerstedt, Magnus B.; Azuma, Shun-ichi; Wardi, Yorai (Georgia Institute of Technology, 2006-09)
      Optimal switch-time control is an area that investigates how best to switch between different control modes. In this paper we present an algorithm for solving the optimal switch-time control problem for single-switch, ...
    • Role-Assignment in Multi-Agent Coordination 

      Ji, Meng; Azuma, Shun-ichi; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Information Convergence Technology, 2006-03)
      In this paper we study the problem of parameterized assignment. This problem arises when a team of mobile robots must decide what role to take on in a given planar formation, where the parameters are the rotation and ...