Now showing items 41-60 of 230

    • Learning from Examples in Unstructured, Outdoor Environments 

      Sun, J.; Mehta, Tejas R.; Wooden, David; Powers, Matthew; Rehg, J.; Balch, Tucker; Egerstedt, Magnus B. (Georgia Institute of TechnologyWiley Periodicals, Inc., 2006)
      In this paper, we present a multi-pronged approach to the "Learning from Example" problem. In particular, we present a framework for integrating learning into a standard, hybrid navigation strategy, composed of both ...
    • Role-Assignment in Multi-Agent Coordination 

      Ji, Meng; Azuma, Shun-ichi; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Information Convergence Technology, 2006-03)
      In this paper we study the problem of parameterized assignment. This problem arises when a team of mobile robots must decide what role to take on in a given planar formation, where the parameters are the rotation and ...
    • Laplacian Sheep: A Hybrid, Stop-Go Policy for Leader-Based Containment Control 

      Ferrari-Trecate, G.; Egerstedt, Magnus B.; Buffa, A.; Ji, Meng (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2006-03)
      The problem of driving a collection of mobile robots to a given target location is studied in the context of partial difference equations. In particular, we are interested in achieving this transfer while ensuring that ...
    • 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 ...
    • Special Section on Symbolic Methods for Complex Control Systems 

      Egerstedt, Magnus B.; Frazzoli, Emilio; Pappas, George (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-06)
      The increasing complexity associated with many modern engineering applications, including autonomous robot guidance and navigation, process control in sensor-rich environments, and control of biological systems, has ...
    • Hierarchical Containment Control in Heterogeneous Mobile Networks 

      Ji, Meng; Egerstedt, Magnus B.; Ferrari-Trecate, G.; Buffa, A. (Georgia Institute of TechnologyMathematical Theory of Networks and Systems, 2006-07)
      In this paper, the multi-agent containment problem is investigated. In particular, we focus our efforts on a continuation of our previous work on leader-follower networks, by imposing a hierarchical structure on the network ...
    • Leader-Based Multi-Agent Coordination Through Hybrid Optimal Control 

      Björkenstam, Staffan; Ji, Meng; Egerstedt, Magnus B.; Martin, Clyde F. (Georgia Institute of TechnologyUniversity of Illinois at Urbana-Champaign, 2006-09)
      The problem of optimally transferring a linear dynamical system between affine varieties arises in a number of applications such as path planning and robot coordination. In this paper, this problem, as well as generalizations ...
    • 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 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 ...
    • 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 ...
    • Distributed Formation Control While Preserving Connectedness 

      Ji, Meng; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-12)
      This paper addresses the connectedness issue in multi-agent coordination, i.e. the problem of ensuring that the group stays connected while achieving some performance objective. In particular, we continue our previous ...
    • A Leader-based Containment Control Strategy for Multiple Unicycles 

      Dimarogonas, Dimos V.; Egerstedt, Magnus B.; Kyriakopoulos, Kostas J. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-12)
      In this paper, a leader based containment control strategy for multiple unicycle agents is introduced. Similar results for the single integrator case examined in [7] are derived based on the theory of Partial Difference ...
    • Realization of the Sensor Web Concept for Earth Science Using Mobile Robotic Platforms 

      Howard, Ayanna M.; Smith, Brian Stephen; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-03)
      In this paper, we discuss the realization of a robotic mobile sensor network that allows for controlled reconfiguration of sensor assets in a decentralized manner. The motivation is to allow the construction of a new ...
    • Symbolic Planning and Control of Robot Motion: State of the Art and Grand Challenges 

      Belta, Calin; Bicchi, Antonio; Egerstedt, Magnus B.; Frazzoli, Emilio; Klavins, Eric; Pappas, George J. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-03)
      In this paper, different research trends that use symbolic techniques for robot motion planning and control are illustrated. As it often happens in new research areas, contributions to this topic started at about the same ...
    • Solving Coverage Problems with Embedded Graph Grammars 

      McNew, John-Michael; Klavins, Eric; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-Verlag, 2007-04)
      We show how Embedded Graph Grammars (EGGs) are used to specify local interaction rules between mobile robots in a natural manner. This formalism allows us to treat local network topologies, geometric transition conditions, ...
    • Motion Programs for Puppet Choreography and Control 

      Egerstedt, Magnus B.; Murphey, Todd D.; Ludwig, Jon (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2007-04)
      This paper presents a motion description language (MDLp) for specifying and encoding autonomous puppetry plays in a manner that is faithful to the way puppetry choreography is currently formulated. In particular, MDLp ...
    • 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, ...
    • Distributed Coordination Control of Multi-Agent Systems While Preserving Connectedness. 

      Ji, Meng; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-08)
      This paper addresses the connectedness issue in multiagent coordination, i.e., the problem of ensuring that a group of mobile agents stays connected while achieving some performance objective. In particular, we study ...
    • Graph-Theoretic Methods for Multi-Agent Coordination 

      Egerstedt, Magnus B. (Georgia Institute of Technology, 2007-09)
      By ignoring the geometric constraints that inevitably govern inter-robot interactions in decentralized robot networks, a purely combinatorial description of the network is obtained. In fact, it can be described as a ...
    • A Modular, Hybrid System Architecture for Autonomous, Urban Driving 

      Wooden, David; Powers, Matthew; Egerstedt, Magnus B.; Christensen, Henrik I.; Balch, Tucker (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-09-26)
      Autonomous navigation in urban environments inevitably leads to having to switch between var- ious, sometimes con icting control tasks. Sting Racing, a collaboration between Georgia Tech and SAIC, has developed a modular ...