Now showing items 139-158 of 230

    • 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 ...
    • 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 ...