Now showing items 161-180 of 230

    • 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 TechnologySpringer, 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 Exploration in Unknown Environments 

      O’Flaherty, Rowland; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015)
      This paper presents an algorithm that optimally explores an unknown environment with regions of varying degrees of importance. The algorithm, termed Ergodic Environmental Exploration (E³), is a finite ...
    • 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 ...
    • Optimization of Foraging Multi-Agent System Front: A Flux-Based Curve Evolution Method 

      Haque, Musad A.; Rahmani, Amir R.; Egerstedt, Magnus B.; Yezzi, Anthony (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      Numerous social foragers form a foraging front that sweeps through the aggregation of prey. Based on this strategy, and using variational arguments, we develop an algorithm to provide a group-level specification of the ...
    • Optimization of Multi-Agent Motion Programs with Applications to Robotic Marionettes 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-Verlag, 2009-04)
      In this paper, we consider the problem of generating optimized, executable control code from high-level, symbolic specifications. In particular, we construct symbolic control programs using strings from a motion description ...
    • Optimization of Multiagent Systems with Increasing State Dimensions: Hybrid LQ Approach 

      Galván-Guerra, R.; Azhmyakov, V.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      In this paper, we study a specific optimal control problem associated with a multiagent dynamic system. The interest is placed on minimization of the tracking error in the multiagent leader-follower model. We replace this ...
    • Oriented Visibility Graphs: Low-Complexity Planning in Real-Time Environments 

      Wooden, David; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-05)
      We show how the introduction of a fixed goal location allows us to lower complexity compared to reduced visibility graphs. The number of inter-polygonal edges is decreased from as much as square to not more than simply ...
    • Overcoming Communication Delays in Distributed Frequency Regulation 

      Ramachandran, Thiagarajan; Nazari, Masoud H.; Grijalva, Santiago; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-07)
      This paper proposes a general framework for determining the effect of communication delays on the convergence of certain distributed frequency regulation (DFR) protocols for prosumer-based energy systems, where prosumers ...