Now showing items 133-152 of 230

    • Motion Description Language-Based Topological Maps for Robot Navigation 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Press, 2008)
      Robot navigation over large areas inevitably has to rely on maps of the environment. The standard manner in which such maps are defined is through geometry, e.g. through traversability grid maps or through a division of ...
    • Motion Description Languages for Multi-Modal Control in Robotics 

      Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-Verlag, 2002-12)
      In this paper we outline how motion description languages provide useful tools when designing multi-modal control laws in robotics. Of particular importance is the introduction of the description length as a measure of how ...
    • Motion Preference Learning 

      Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      In order to control systems to meet subjective criteria, one would like to construct objective functions that accurately represent human preferences. To do this, we develop robust estimators based on convex optimization ...
    • Motion Probes for Fault Detection and Recovery in Networked Control Systems 

      Franceschelli, Mauro; Egerstedt, Magnus B.; Giua, Alessandro (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersAmerican Automatic Control Council, 2008-06)
      In this paper we address the problem of how to excite networked control systems in such a way that faulty, and possibly malicious, agents can be detected. In particular, we envision a scenario in which a subset of the ...
    • Motion Programs for Multi-Agent Control: From Specification to Execution 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of Technology, 2010-07)
      This paper explores the process of turning high-level motion programs into executable control code for multi-agent systems. Specifically, we use a modified Motion Description Language (MDL) for networked systems that ...
    • Motion Programs for Puppet Choreography and Control 

      Egerstedt, Magnus B.; Murphey, Todd D.; Ludwig, Jon (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2007-04)
      This paper presents a motion description language (MDLp) for specifying and encoding autonomous puppetry plays in a manner that is faithful to the way puppetry choreography is currently formulated. In particular, MDLp ...
    • Multi-Modal Control Using Adaptive Motion Description Languages 

      Mehta, Tejas R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevier, 2007-11-04)
      In this paper, we address the problem of adaptively enriching motion description languages for multi-modal control by systematically enlarging the set of available modes. This problem is formulated as an optimal control ...
    • 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 ...
    • Multi-Process Control Software for Humanoid Robots 

      Grey, M. X.; Dantam, Neil; Lofaro, Daniel M.; Bobick, Aaron F.; Egerstedt, Magnus B.; Oh, Paul; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)
      Humanoid robots require greater software reliability than traditional mechatronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which distributes ...
    • Multi-Robot Control Using Time-Varying Density Functions 

      Lee, Sung G.; Diaz-Mercad, Yancy; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-04)
      An approach is presented for influencing teams of robots by means of time-varying density functions, representing rough references for where the robots should be located. A continuous-time coverage algorithm is proposed ...
    • Multi-Robot Deployment and Coordination with Embedded Graph Grammars 

      Smith, Brian Stephen; Howard, Ayanna; McNew, John-Michael; Egerstedt, Magnus (Georgia Institute of TechnologySpringer Verlag, 2009-01)
      This paper presents a framework for going from specifications to implementations of decentralized control strategies for multi-robot systems. In particular, we show how the use of Embedded Graph Grammars (EGGs) provides a ...
    • Multi-Robot Mixing Using Braids 

      Diaz-Mercado, Yancy; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-12)
      This paper presents a method for automatically achieving multi-robot mixing in the sense that the robots follow predefined paths in a somewhat loose sense while ensuring that their actual movements are rich enough. In ...
    • Multi-robot routing for servicing spatio-temporal requests: A musically inspired problem 

      Chopra, Smriti; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevier, 2012-06)
      In this paper, we consider the problem of routing multiple robots to service spatially distributed requests at specified time instants. As a motivating example, we present the Robot MusicWall, a musically instrumented ...
    • Multi-robot routing under connectivity constraints 

      Chopra, Smriti; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevier, 2012-09)
      This paper addresses the problem of routing multiple range constrained robots to service spatially distributed requests at specified time instants, while ensuring a connected information exchange network at all times. We ...
    • Multi-Robot Search and Rescue: An Open-Ended Educational Bridge Between Theory and Practice 

      Twu, Philip Y.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2013-04)
      This paper reports on a multi-robot search and rescue final project that has been used at the Georgia Institute of Technology to educate students on how to methodically apply networked control theory concepts towards solving ...
    • Multi-UAV Convoy Protection: An Optimal Approach to Path Planning and Coordination 

      Ding, Xu Chu; Rahmani, Amir R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      In this paper we study the problem of controlling a group of Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled as Dubins vehicles flying at a constant ...
    • Musical Abstractions in Distributed Multi-Robot Systems 

      Albin, Aaron; Weinberg, Gil; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      In this paper, we connect local properties in a mobile planar multi-robot team to the task of creating decentralized real time algorithmic music. Using a nonlinear formation control law inspired by the consensus equation, ...
    • Network Discovery: An Estimation Based Approach 

      Chowdhary, Girish; Egerstedt, Magnus B.; Johnson, Eric N. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      We consider the unaddressed problem of network discovery, in which, an agent attempts to formulate an estimate of the global network topology using only locally available information. We show that under two key assumptions, ...
    • Observability and Controllability Verification in Multi-Agent Systems through Decentralized Laplacian Spectrum Estimation 

      Franceschelli, Mauro; Martini, Simone; Egerstedt, Magnus B.; Bicchi, Antonio; Giua, Alessandro (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      In this paper we show how the decentralized estimation of the spectrum of a network can be used to infer its controllability and observability properties. The proposed approach is applied to networked multi-agent systems ...
    • Observability and Policy Optimization for Mobile Robots 

      Egerstedt, Magnus B.; Hristu-Varsakelis, Dimotrios (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2002-12)
      This paper considers the use of abstract descriptions of motion control programs and of the environment, and explores some new problems of system theoretic interest that arise as a result. Wc study the problem of active ...