Now showing items 139-158 of 217

    • 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 ...
    • Obstacle Avoidance for Mobile Robots Using Switching Surface Optimization 

      Boccadoro, Mauro; Egerstedt, Magnus B.; Wardi, Yorai (Georgia Institute of TechnologyInternational Federation of Automatic Control, 2005-07)
      This paper studies the problem of letting an autonomous mobile robot negotiate obstacles in an optimal manner. In particular, a multi-modal control problem is addressed, where different modes of operation control the ...
    • 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 Autonomous Switched-Mode Systems: Gradient-Descent Algorithms with Armijo Step Sizes 

      Wardi, Yorai; Egerstedt, Magnus B.; Hale, M. (Georgia Institute of Technology, 2015-12)
      This paper concerns optimal mode-scheduling in autonomous switched-mode hybrid dynamical systems, where the objective is to minimize a cost-performance functional defined on the state trajectory as a function of the schedule ...
    • 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 ...