Now showing items 36-55 of 217

    • Control of Mobile Platforms Using a Virtual Vehicle Approach 

      Egerstedt, Magnus B.; Hu, Xiaoming; Stotsky, A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-11)
      Two model independent solutions to the problem of controlling wheel-based mobile platforms are proposed. These two algorithms are based on a so called virtual vehicle approach, where the motion of the reference point ...
    • Control of Multiagent Systems under Persistent Disturbances 

      Yucelen, Tansel; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
      This paper focuses on the consensus and formation problems of multiagent systems under unknown, persistent disturbances. Specifically, we propose a method that combines an existing consensus (or formation) algorithm with ...
    • A Control Theoretic Formulation of the Generalized SLAM Problem in Robotics 

      Egerstedt, Magnus B.; Jensfelt, Patric (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-06)
      Simultaneous Localization and Mapping (SLAM) has emerged as a key capability for autonomous mobile robots navigating in unknown environments. The basic idea behind SLAM is to concurrently obtain a map of the environment and ...
    • Control-Driven Mapping and Planning 

      Wooden, David; Powers, Matthew; MacKenzie, D. C.; Balch, Tucker; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-11)
      Layered hybrid controllers typically include a planner at the top level with reactive control at the lower levels. The planner considers the state of the robot in a global context. The low-level controllers consider ...
    • Controllability Characterizations of Leader-Based Swarm Interactions 

      de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyAssociation for the Advancement of Artificial Intelligence, 2012-11)
      In this paper, we investigate what role the network topology plays when controlling a network of mobile robots. This is a question of key importance in the emerging area of humanswarm interaction and we approach this ...
    • Controllability of Homogeneous Single-Leader Networks 

      Egerstedt, Magnus B.; Martini, Simone; Twu, Philip Y. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      This paper addresses an aspect of controllability in a single-leader network when the agents are homogeneous. In such a network, indices are not assigned to the individual agents and controllability, which is typically ...
    • Controllability of Multi-Agent Systems from a Graph-Theoretic Perspective 

      Rahmani, Amir R.; Ji, Meng; Mesbahi, Mehran; Egerstedt, Magnus B. (Georgia Institute of TechnologySociety for Industrial and Applied Mathematics, 2009-02)
      In this work, we consider the controlled agreement problem for multi-agent networks, where a collection of agents take on leader roles while the remaining agents execute local, consensus-like protocols. Our aim is to ...
    • Controllability of Prosumer-Based Networks in the Presence of Communication Failures 

      Ramachandran, Thiagarajan; Nazari, Masoud; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
      Typically, interconnected dynamical systems rely on communication in order to coordinate and compute appropriate control actions. Loss of communication links can exclude key decision makers from providing input and ...
    • Controlled Coverage Using Time-Varying Density Functions 

      Lee, Sung G.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC), 2013-09)
      A new approach for controlling a system of multiple agents by choosing a time-varying density function is presented, employing optimal coverage ideas. In this approach, we specify a time- varying density function that ...
    • A Controlled-Precision Algorithm for Mode-Switching Optimization 

      Wardi, Yorai; Egerstedt, Magnus B.; Twu, Philip Y. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-12)
      This paper describes an adaptive-precision algorithm for solving a general optimal mode-scheduling problem in switched-mode dynamical systems. The problem is complicated by the fact that the controlled variable has discrete ...
    • Coordinated Trajectory Following for Mobile Manipulation 

      Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-04)
      A platform independent control approach for mobile manipulation and coordinated trajectory following is proposed and analyzed. Given a path for the gripper to follow, another path is planned for the base in such a way that ...
    • Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2009-09)
      In this paper, we present feedback control laws for an autonomous vehicle with rigidly mounted range sensors to track a desired curve. In particular, we consider a vehicle that has a group of rays around two center rays ...
    • Curve Tracking for Autonomous Vehicles with Rigidly Mounted Range Sensors 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-12)
      In this paper, we present a feedback control law to make an autonomous vehicle with rigidly mounted range sensors track a desired curve. In particular, we consider a vehicle which has two range sensors that emit rays ...
    • Data-Driven Generation of Low-Complexity Control Programs 

      Delmotte, Florent; Egerstedt, Magnus B.; Austin, Adam (Georgia Institute of TechnologyNonpareil Publishers, 2004)
      In this paper we study the problem of generating control programs, i.e. strings of symbolic descriptions of control-interrupt pairs (or modes) from input-output data. In particular, we take the point of view that such ...
    • Decentralized Classification in Societies of Autonomous and Heterogenous Robots 

      Martini, Simone; Fagiolini, Adriano; Zichittella, Giancarlo; Egerstedt, Magnus B.; Bicchi, Antonio (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      This paper addresses the classification problem for a set of autonomous robots that interact with each other. The objective is to classify agents that "behave" in "different way", due to their own physical dynamics or ...
    • Decentralized Degree Regularization for Multi-Agent Networks 

      Yazıcıoğlu, A. Yasin; Egerstedt, Magnus B.; Shamma, Jeff S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-12)
      Networked multi-agent systems are widely modeled as graphs where the agents are represented as nodes and edges exist between the agents that interact directly. In this setting, the degree of a node is the number of edges ...
    • Decentralized Formation of Random Regular Graphs or Robust Multi-Agent Networks 

      Yazıcıoğlu, A. Yasin; Egerstedt, Magnus B.; Shamma, Jeff S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
      Multi-agent networks are often modeled via interaction graphs, where the nodes represent the agents and the edges denote direct interactions between the corresponding agents. Interaction graphs have significant impact on ...
    • Decentralized Formation Selection Mechanisms Inspired by Foraging Bottlenose Dolphins 

      Haque, Musad A.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2008-07)
    • Deformable-Medium Affordances for Interacting with Multi-Robot Systems 

      Diana, Matteo; de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-11)
      This paper addresses the issue of human-swarm interactions by proposing a new set of affordances that make a multi-robot system amenable to human control. In particular, we propose to use clay – a deformable medium – as ...
    • The Degree of Nonholonomy in Distributed Computations 

      Costello, Zak; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
      A network of locally interacting agents can be thought of as performing a distributed computation. But not all computations can be faithfully distributed. This paper discusses which global linear transformations can be ...