Now showing items 139-158 of 209

    • On Finding Globally Optimal Paths through Weighted Colored Graphs 

      Wooden, David; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-12)
      In this paper, we present a method for finding a globally optimal path through a colored graph. Optimal here means that, for a given path, the induced path coloring corresponds to an equivalent class. A total ordering ...
    • On the Number of Leaders Needed to Ensure Network Connectivity in Arbitrary Dimensions 

      Gustavi, Tove; Dimarogonas, Dimos V.; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-06)
      We examine the leader-to-follower ratio needed to maintain connectivity in a leader-follower multi-agent network with proximity based communication topology. The paper extends the one-dimensional results of [2] to the ...
    • On the Specification Complexity of Linguistic Control Procedures 

      Egerstedt, Magnus B. (Georgia Institute of TechnologyNonpareil Publishers, 2002)
      In this paper we combine the ideas of trigger based hybrid systems with that of motion description languages in order to show how continuous machines should interpret and operate on computer generated symbolic (linguistic) ...
    • On the Structural Complexity of Multi-Agent Robot Formations. 

      Muhammad, Abubakr; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersAmerican Automatic Control Council, 2004-06)
      We present a complexity measure for studying the structural complexity of multi-agent robot formations. We base this measure on the total information flow in the system, which is due to sensory perception and communication ...
    • On The Structural Complexity of the Motion Description Language MDLe 

      Hristu-Varsakelis, Dimotrios; Egerstedt, Magnus B.; Krishnaprasad, P. S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2003-12)
      As modern control theory attempts to elucidate the complexity of systems that combine differential equations and event-driven logic, it must overcome challenges having to do with limited expressive power as well as ...
    • On Time: Clocks, Chronometers, and Open-Loop Control 

      LaValle, Steven M.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-12)
      This paper addresses the peculiar treatment that time receives when studying control systems. For example, why is the ability to perfectly observe time assumed implicitly in virtually all control formulations? What ...
    • On-line Optimal Timing Control of Switched Systems 

      Wardi, Yorai; Egerstedt, Magnus B.; Twu, Philip Y. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      This paper considers a real-time algorithm for performance optimization of switched-mode hybrid dynamical systems. The controlled parameter consists of the switching times between the modes, and the cost criterion has the ...
    • 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, ...
    • Optimal Control of a Multi-Dimensional, Hybrid Ice-Skater Model 

      Mehta, Tejas R.; Yeung, Deryck; Verriest, Erik I.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-07)
      In this paper, we study hybrid models that not only undergo mode transitions, but also experience changes in dimensions of the state and input spaces. An algorithmic framework for the optimal control of such Multi-Mode, ...
    • Optimal Control of Switched Dynamical Systems Under Dwell Time Constraints 

      Ali, Usman; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
      This paper addresses the problem of optimally scheduling the mode sequence and mode duration for switched dynamical systems under dwell time constraints that describe how long a system has to stay in a mode before they ...
    • Optimal Decentralization of Multi-Agent Motions 

      Egerstedt, Magnus B.; Twu, Philip Y. (Georgia Institute of TechnologyAmerican Automatic Control Council, 2010-07)
      This paper addresses how to optimally decentralize the execution of a multi-agent mission defined at the trajectory-level, where the information flow among agents in the system are limited by a predefined network ...
    • Optimal Decentralized Gait Transitions for Snake Robots 

      Droge, Greg; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-05)
      Snake robots are controlled by implementing gaits inspired from their biological counterparts. However, transitioning between these gaits often produces undesired oscillations which cause net movements that are difficult ...
    • Optimal Motion Primitives for Multi-UAV Convoy Protection 

      Rahmani, Amir R.; Ding, Xu Chu; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      In this paper we study the problem of controlling a number 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 ...
    • Optimal Multi-UAV Convoy Protection 

      Ding, Xu Chu; Rahmani, Amir R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-04)
      In this paper, we study time-optimal trajectories for Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of stationary ground vehicles. The UAVs are modelled as Dubins vehicles flying at a constant ...
    • Optimal Switching Control of a Step-Down DC-DC Converter 

      Kawashima, Hiroaki; Taylor, David G.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
      This paper applies a general computational technique for optimal control of switched-mode hybrid systems, recently developed by the authors, to voltage-regulation problems in a step-down DC-DC converter. Unlike existing ...
    • 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 ...
    • An Optimal Timing Approach to Controlling Multiple UAVs 

      Ding, Xu Chu; Powers, Matthew; Egerstedt, Magnus B.; Young, R. (Georgia Institute of TechnologyAmerican Automatic Control Council, 2009-06)
      In this paper we address the problem of having a single operator control a team of unmanned aerial vehicles (UAVs). This is achieved by having the team execute a leader-follower coordinated behavior, where the leader ...
    • Optimal Timing Control of Interconnected, Switched Systems with Applications to Robotic Marionettes 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-05)
      We present an optimal timing control formulation of the problem of controlling autonomous puppets. In particular, by appropriately timing the different movements, entire plays can be performed. Such plays are produced ...
    • Optimal Trajectory Generation for Next Generation Flight Management Systems 

      Diaz-Mercado, Yancy; Lee, Sung G.; Egerstedt, Magnus B.; Young, Shih-Yih (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      Next generation flight management systems require the compliance of temporal and spatial constraints on navigation performance. The problem of generating fuel-efficient trajectories for aircrafts that comply with the ...
    • Optimal Trajectory Planning and Smoothing Splines 

      Egerstedt, Magnus; Martin, Clyde F. (Georgia Institute of TechnologyElsevier, 2001-07)
      In this paper, some of the relationships between optimal control and trajectory planning are examined. When planning trajectories for linear control systems, a demand that arises naturally in air traffic control or noise ...