Now showing items 21-40 of 230

    • Some Complexity Aspects of the Control of Mobile Robots 

      Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersAmerican Automatic Control Council, 2002-05)
      In an earlier work it was shown how the length of the specification of a control procedure is affected by the availability of sensory information. In particular, it was shown that this length can be reduced by a ...
    • Formation Control Under Limited Sensory Range Constraints 

      Egerstedt, Magnus B.; Abubakr, M.; Hu, Xiaoming (Georgia Institute of Technology, 2002-07)
      Based on the assumption that all robots in a given multi-agent scenario can evaluate a global formation function, we show how a model independent coordination strategy for multi-agent formation control can be obtained. The ...
    • Conflict Resolution for Autonomous Vehicles: A Case Study in Hierarchical Control Design 

      Egerstedt, Magnus B.; Martin, Clyde F. (Georgia Institute of TechnologyNonpareil Publishers, 2002-09)
      In this paper we consider the problem of conflict avoidance for autonomous systems using a hierarchical control strategy that we establish using the notion of predicate consistent abstractions. We apply our proposed ...
    • 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 ...
    • Motion Description Languages for Multi-Modal Control in Robotics 

      Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-Verlag, 2002-12)
      In this paper we outline how motion description languages provide useful tools when designing multi-modal control laws in robotics. Of particular importance is the introduction of the description length as a measure of how ...
    • 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 ...
    • Feedback Can Reduce the Specification Complexity of Motor Programs 

      Egerstedt, Magnus B.; Brockett, Roger W. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2003-02)
      In this paper, we show that when it is possible to use feedback in the specification of "motor programs," the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a ...
    • Autonomous Formation Switching for Multiple, Mobile Robots 

      Axelsson, Henrik; Muhammad, Abubakr; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Federation of Automatic Control, 2003-06)
      In this paper we investigate the question concerning what multi-agent formations to use in a given situation. In particular, we show how it is possible to produce a control strategy for teams of mobile robots that switches ...
    • Topology and Complexity of Formations 

      Muhammad, Abubakr; Egerstedt, Magnus B. (Georgia Institute of Technology, 2003-12)
      Biological multi-agent systems such as animal herds, insect colonies and fish schools provide a lot of insight into the study and design of artificial multi-agent systems such as teams of autonomous mobile robots. ...
    • 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 ...
    • 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 ...
    • 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 ...
    • Control of Autonomous Mobile Robots 

      Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-VerlagBirkhäuser, 2005)
    • From Empirical Data to Multi-Modal Control Procedures 

      Delmotte, Florent; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-Verlag, 2005)
      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 ...
    • Learning Multi-Modal Control Programs 

      Mehta, Tejas R.; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-Verlag, 2005-03)
      Multi-modal control is a commonly used design tool for breaking up complex control tasks into sequences of simpler tasks. In this paper, we show that by viewing the control space as a set of such tokenized instructions ...
    • What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs 

      Egerstedt, Magnus B.; Balch, Tucker; Dellaert, Frank; Delmotte, Florent; Khan, Z. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-04)
      In this paper, we study the problem of going from a real-world, multi-agent system to the generation of control programs in an automatic fashion. In particular, a computer vision system is presented, capable of ...
    • Reactive Robot Navigation Using Optimal Timing Control 

      Axelsson, Henrik; Egerstedt, Magnus B.; Wardi, Yorai (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-06)
      In this paper a solution is presented for the problem of avoiding obstacles while progressing towards a goal for a single robot. In particular, an optimal solution is obtained by allowing the robot to switch between a ...
    • Connectedness Preserving Distributed Coordination Control Over Dynamic Graphs 

      Ji, Meng; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-06)
      This paper presents a solution to the limited information rendezvous problem over dynamic interaction graphs. In particular, we show how we, by adding appropriate weights to the edges in the graphs, can guarantee that ...
    • 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 ...
    • Motion Alphabet Augmentation Based on Past Experiences 

      Mehta, Tejas R.; Delmotte, Florent; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-12)
      Multi-modal control is a commonly used design tool for breaking up complex control tasks into sequences of simpler tasks. It has previously been shown that rapidly-exploring randomized trees (as well as other viable ...