Now showing items 19-38 of 230

    • Characterizing Heterogeneity in Cooperative Networks From a Resource Distribution View-Point 

      Abbas, Waseem; Egerstedt, Magnus (Georgia Institute of TechnologyInternational Press, 2014-11)
      A network of agents in which agents with a diverse set of resources or capabilities interact and coordinate with each other to accomplish various tasks constitutes a heterogeneous cooperative network. In this paper, we ...
    • Choreography for Marionettes: Imitation, Planning, and Control 

      Murphey, Todd D.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-11)
      This paper presents a project aimed at the creation of fully automated marionettes for puppet plays, to be used in stage plays at the Atlanta Center for Puppetry Arts. In fact, marionettes are sophisticated and challenging ...
    • Cloud-Based Centralized/Decentralized Multi-Agent Optimization with Communication Delays 

      Hale, Matthew T.; Nedić, Angelia; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
      We present and analyze a hybrid computational architecture for performing multi-agent optimization. The optimization problems under consideration have convex objective and constraint functions with mild smoothness ...
    • Cloud-Based Optimization: A Quasi-Decentralized Approach to Multi-Agent Coordination 

      Hale, M.T.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
      New architectures and algorithms are needed to reflect the mixture of local and global information that is available as multi-agent systems connect over the cloud. We present a novel architecture for multi-agent coordination ...
    • Coalition Formation in Multi-Agent Systems Based on Bottlenose Dolphin Alliances 

      Haque, Musad A.; Egerstedt, Magnus B. (Georgia Institute of TechnologyAmerican Automatic Control Council, 2009-06)
      Male bottlenose dolphins, Tursiops truncatus, found off the coast of Western Australia and Florida, often form varied levels of alliances to capture females and increase their chances of mating. One such alliance, known ...
    • Comparing Apples and Oranges Through Partial Orders: An Empirical Approach 

      Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of TechnologyAmerican Automatic Control Council, 2009-06)
      In this paper, we try to understand what people mean when they say that two objects are "similar." This is an important question in the area of human-robot interactions, where robots must interpret human movements in ...
    • 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 ...
    • 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 ...
    • Constrained Agreement Protocols for Tree Graph Topologies 

      Chipalkatty, Rahul; Egerstedt, Magnus B. (Georgia Institute of TechnologyTaylor & Francis, 2011-02)
      This paper presents a novel way of manipulating the initial conditions in the consensus equation such that a constrained agreement problem is solved across a distributed network of agents, particularly for a network ...
    • Constrained Invariant Motions for Networked Multi-Agent Systems 

      Franceschelli, Mauro; Egerstedt, Magnus B.; Giua, Alessandro; Mahulea, Cristian (Georgia Institute of TechnologyAmerican Automatic Control Council, 2009-06)
      In this paper we propose a methodology to solve the constrained consensus problem, i.e., the consensus problem for multi-agent systems with constrained dynamics. We propose a decentralized one-step horizon optimization ...
    • Constructing and Implementing Motion Programs for Robotic Marionettes 

      Martin, Patrick; Johnson, Elliot; Murphey, Todd D.; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-04)
      This technical note investigates how to produce control programs for complex systems in a systematic manner. In particular, we present an abstraction-based approach to the specification and optimization of motion programs ...
    • Containment Control in Mobile Networks 

      Ji, Meng; Ferrari-Trecate, G.; Egerstedt, Magnus B.; Buffa, A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-09)
      In this paper, the problem of driving a collection of mobile robots to a given target destination is studied. In particular, we are interested in achieving this transfer in an orderly manner so as to ensure that the agents ...
    • Containment in Leader-Follower Networks with Switching Communication Topologies 

      Notarstefano, Giuseppe; Egerstedt, Magnus B.; Haque, Musad A. (Georgia Institute of TechnologyElsevier, 2011)
      We study bipartite, first-order networks where the nodes take on leader or follower roles. Specifically, we let the leaders' positions be static and assume that leaders and followers communicate via an undirected switching ...
    • Continuous-time Proportional-Integral Distributed Optimization for Networked Systems 

      Droge, Greg; Kawashima, Hiroaki; Egerstedt, Magnus (Georgia Institute of TechnologyTaylor & Francis Group, 2014-07)
      In this paper we explore the relationship between dual decomposition and the consensus-based method for distributed optimization. The relationship is developed by examining the similarities between the two approaches and ...
    • Control Barrier Certificates for Safe Swarm Behavior 

      Borrmann, Urs; Wang, Li; Ames, Aaron D.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2015-10)
      Multi-agent robotics involves the coordination of large numbers of robots, which leads to significant challenges in terms of collision avoidance. This paper generates provably collision free swarm ...
    • A Control Lyapunov Function Approach to Human-Swarm Interactions 

      de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
      In this paper, we seek to establish formal guarantees for whether or not a given human-swarm interaction (HSI) is appropriate for achieving multi-robot tasks. Examples of such tasks include guiding a swarm of robots ...
    • 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, 2001-12)
      In this paper, the multi-agent 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 ...
    • 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 ...