Now showing items 36-55 of 230

    • A Control Lyapunov Function Approach to Multi-Agent Coordination 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2002-10)
      In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation ...
    • Control of a Car-Like Robot Using a Virtual Vehicle Approach 

      Egerstedt, Magnus B.; Hu, Xiaoming; Stotsky, A. (Georgia Institute of TechnologyInternational Federation of Automatic Control, 1999-07)
      A solution to the problem of controlling a car-like nonholonomic robot is proposed using a "virtual" vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model ...
    • Control of a Car-Like Robot Using a Virtual Vehicle Approach 

      Egerstedt, Magnus B.; Hu, Xiaoming; Stotsky, A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1998-12)
      A solution to the problem of controlling a car-like nonholonomic robot is proposed using a “virtual” vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model ...
    • Control of Autonomous Mobile Robots 

      Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-VerlagBirkhäuser, 2005)
    • 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 ...
    • Correct-by-Construction Control Synthesis for Multi-Robot Mixing 

      Diaz-Mercado, Yancy; Jones, Austin; Belta, Calin; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
      This paper considers the problem of controlling a team of heterogeneous agents to conform to high- level interaction (coordination, sensing, and communication) missions. We consider interactions that can be specified via ...
    • 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 ...