Now showing items 1-20 of 217

    • Adaptive Time Horizon Optimization in Model Predictive Control 

      Droge, Greg; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      Whenever the control task involves the tracking of a reference signal the performance is typically improved if one knows the future behavior of this reference. However in many applications this is typically not the case ...
    • Air Traffic Maximization for the Terminal Phase of Flight Under FAA's NextGen Framework 

      Chipalkatty, Rahul; Rahmani, Amir R.; Egerstedt, Magnus B.; Young, R.; Twu, Philip Y. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      The NextGen program is the FAA's response to the ever increasing air traffic, that provides tools to increase the capacity of national airspace, while ensuring the safety of aircraft. In support of this vision, this paper ...
    • Algorithm for Optimal Mode Scheduling in Switched Systems 

      Wardi, Yorai; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
      This paper considers the problem of computing the schedule of modes in an autonomous switched dynamical system, that minimizes a cost functional defined on the trajectory of the system’s continuous state variable. It ...
    • Analyzing Human-Swarm Interactions Using Control Lyapunov Functions and Optimal Control. 

      de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyAmerican Institute of Mathematical Sciences, 2015-09)
      A number of different interaction modalities have been proposed for human engagement with networked systems. In this paper, we establish formal guarantees for whether or not a given such human-swarm interaction (HSI) ...
    • Approximate Manipulability of Leader-Follower Networks 

      Kawashima, Hiroaki; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      We introduce the notion of manipulability to leader-follower networks as a tool to analyze how effective inputs injected at a leader node are in terms of their impact on the movements of the follower nodes, as a function ...
    • Automatic Deployment and Formation Control of Decentralized Multi-Agent Networks 

      Smith, Brian Stephen; Egerstedt, Magnus B.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-05)
      Novel tools are needed to deploy multi-agent networks in applications that require a high degree of accuracy in the achievement and maintenance of geometric formations. This is the case when deploying distributed sensing ...
    • Automatic Formation Deployment of Decentralized Heterogeneous Multiple-Robot Networks with Limited Sensing Capabilities 

      Smith, Brian Stephen; Wang, Jiuguang; Egerstedt, Magnus B.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      Heterogeneous multi-robot networks require novel tools for applications that require achieving and maintaining formations. This is the case for distributing sensing devices with heterogeneous mobile sensor networks. ...
    • Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints 

      Smith, Brian Stephen; Egerstedt, Magnus B.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2009-06)
      In this paper we present a collection of graph-based methods for determining if a team of mobile robots, subjected to sensor and communication range constraints, can persistently achieve a specified formation. What we ...
    • Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints 

      Smith, Brian Stephen; Egerstedt, Magnus B.; Howard, Ayanna M. (Georgia Institute of Technology, 2007-10)
      We present graph-based methods for determining if a mobile robot network with a defined sensor and communication range can persistently achieve a specified formation, which implies that the formation, once achieved, will ...
    • Autonomous Driving in Urban Environments: Approaches, Lessons, and Challenges 

      Campbell, M.; Egerstedt, Magnus; How, J. P.; Murray, R. M. (Georgia Institute of TechnologyThe Royal Society, 2010)
      The development of autonomous vehicles for urban driving has seen rapid progress in the past 30 years. This paper provides a summary of the current state of the art in autonomous driving in urban environments, based ...
    • 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 ...
    • Battery Level Estimation of Mobile Agents Under Communication Constraints 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-06)
      Consider a team of mobile agents monitoring large areas, e.g. in the ocean or the atmosphere, with limited sensing resources. Only the leader transmits information to other agents, and the leader has a role to monitor ...
    • Behavior Based Robotics Using Hybrid Automata 

      Egerstedt, Magnus (Georgia Institute of TechnologySpringer Verlag, 2000-03)
      In this article, we show how a behavior based control system for autonomous robots can be modeled as a hybrid automaton, where each node corresponds to a distinct robot behavior. This type of construction gives rise to ...
    • Behavior Based Robotics Using Regularized Hybrid Automata 

      Egerstedt, Magnus B.; Johansson, K.; Lygeros, J.; Sastry, S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1999-12)
      Investigates how to model a behavior based control system for mobile robots as a hybrid automaton. We show that an automaton, with the nodes corresponding to distinct behaviors, may exhibit an infinite number of discrete ...
    • Behavior-Based Switch-Time MPC for Mobile Robots 

      Droge, Greg; Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      Model predictive control can be computationally intensive as it has to compute an optimal control trajectory at each time instant. As such, we present a method in which parametrized behaviors are introduced as a level of ...
    • Biologically Inspired Coalition Formation of Multi-Agent Systems 

      Haque, Musad A.; Rahmani, Amir R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Foundation for Autonomous Agents and Multiagent Systems, 2010-05)
      We model the multi-level alliance forming ability of male bottlenose dolphins to develop a decentralized multi-level coalition formation algorithm for a multi-agent system. The goal is to produce a model that is rich enough ...
    • Biologically Motivated Shape Optimization of Foraging Fronts 

      Haque, Musad A.; Rahmani, Amir R.; Egerstedt, Magnus B.; Yezzi, Anthony (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      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, ...
    • Characterizing Heterogeneity in Cooperative Networks From a Resource Distribution View-Point 

      Abbas, Waseem; Egerstedt, Magnus (Georgia Institute of TechnologyInternational Press, 2014-11)
      A network of agents in which agents with a diverse set of resources or capabilities interact and coordinate with each other to accomplish various tasks constitutes a heterogeneous cooperative network. In this paper, we ...
    • Choreography for Marionettes: Imitation, Planning, and Control 

      Murphey, Todd D.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-11)
      This paper presents a project aimed at the creation of fully automated marionettes for puppet plays, to be used in stage plays at the Atlanta Center for Puppetry Arts. In fact, marionettes are sophisticated and challenging ...
    • Cloud-Based Optimization: A Quasi-Decentralized Approach to Multi-Agent Coordination 

      Hale, M.T.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
      New architectures and algorithms are needed to reflect the mixture of local and global information that is available as multi-agent systems connect over the cloud. We present a novel architecture for multi-agent coordination ...