Now showing items 74-93 of 230

    • Effects of Insufficient Time-Scale Separation in Cascaded, Networked Systems 

      Sakurama, Kazunori; Verriest, Erik I.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2015-07)
      In this paper, we investigate the effect of insufficient time-scale separation between inner and the outer loops in a cascaded, networked system under multiple clients. Inspired by the AQM (inner loop) and TCP (outer loop) ...
    • Energy-Efficient Data Collection in Heterogeneous Wireless Sensor and Actor Networks 

      Abbas, Waseem; Jaleel, Hassan; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-12)
      In this paper, we address the issue of activity scheduling of sensors in heterogeneous wireless sensor and actor networks (WSANs), thereby proposing an energy-efficient data collection scheme in such networks. In order ...
    • Executive Decision Support: Single-Agent Control of Multiple UAVs 

      Ding, Xu Chu; Powers, Matthew; Egerstedt, Magnus B.; Young, Shih-Yih (Ryan); Balch, Tucker (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      One challenge facing coordination and deployment of unmanned aerial vehicles (UAVs) today is the amount of human involvement needed to carry out a successful mission. Currently, control and coordination of UAVs typically ...
    • An exploration strategy by constructing Voronoi Diagrams with provable completeness 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-12)
      We present novel exploration algorithms and a control law that enable the construction of Voronoi diagrams over unknown areas using a single autonomous vehicle equipped with range sensors. Our control law and exploration ...
    • Feedback Can Reduce the Specification Complexity of Motor Programs 

      Egerstedt, Magnus B.; Brockett, Roger W. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      In this paper we show that when it is possible to use feedback in the specifications of "motor programs", the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a factor ...
    • 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 ...
    • First-Order, Networked Control Models of Swarming Silkworm Moths 

      Haque, Musad A.; Egerstedt, Magnus B.; Martin, Clyde F. (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersAmerican Automatic Control Council, 2008-06)
      Social insects have long served as inspiration to the multi-agent community. In this paper, we take the opposite approach and see if tools from decentralized, networked control can be used to predict observed, biological ...
    • Flipping the Controls Classroom Around a MOOC 

      Egerstedt, Magnus; de la Croix, Jean-Pierre (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      Bridging the theory-practice gap in controls education is a well-known challenge. In this paper, we discuss how one can bridge this gap using a flipped classroom. Based on the recent MOOC (Massive Open Online Course), ...
    • A Formal Approach to the Automatic Generation of Ballet Motions 

      LaViers, Amy; Chen, Yushan; Belta, Calin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-04)
      As cyber-physical systems become more prevalent, specifications for these systems must be formulated in a more nuanced manner. This paper presents a particular instantiation of such specification by proposing a framework ...
    • A Formal Approach to the Automatic Generation of Ballet Phrases 

      LaViers, Amy; Chen, Yushan; Belta, Calin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      This paper presents a novel example where formal methods can be used to generate a type of human behavior. Drawing inspiration from classical ballet, poses are cast as discrete states and movements as the transitions between ...
    • A Formal Model for Human Motion 

      LaViers, Amy; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      In this paper we present a discrete event model whose marked language, i.e., sequences of movements, make up canonical warm-up routines in classical ballet. Through composition operations that trim physically infeasible ...
    • Formation Constrained Multi-Agent Control 

      Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      We propose a model independent coordination strategy for multi-agent formation control. The main theorem states that under a bounded tracking error assumption our method stabilizes the formation error. We illustrate the ...
    • Formation Constrained Multi-Agent Control 

      Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-05)
      We propose a model independent coordination strategy for multi-agent formation control. The main theorem states that under a bounded tracking error assumption our method stabilizes the formation error. We illustrate the ...
    • 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 ...
    • From Algorithms to Architectures in Cyber-Physical Networks 

      Egerstedt, Magnus B. (Georgia Institute of TechnologyTaylor & Francis, 2015-02)
    • 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 ...
    • From Global, Finite-Time, Linear Computations to Local, Edge-Based Interaction Rules 

      Costello, Zak; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-08)
      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 investigates which global, linear transformations can ...
    • A Game Theoretic Approach to Distributed Coverage of Graphs by Heterogeneous Mobile Agents 

      Yazıcıoğlu, A. Yasin; Egerstedt, Magnus B.; Shamma, Jeff S. (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC), 2013-09)
      In this paper, we study the problem of covering an apriori unknown network structure by a group of mobile agents with possibly nonidentical coverage and communication capabilities. The network is represented as a graph, ...
    • A Game-theoretic Formulation of the Homogeneous Self-Reconfiguration Problem 

      Pickem, Daniel; Egerstedt, Magnus B.; Shamma, Jeff S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
      In this paper we formulate the homogeneous two- and three-dimensional self-reconfiguration problem over discrete grids as a constrained potential game. We develop a game-theoretic learning algorithm based on the ...
    • Geometric Foraging Strategies in Multi-Agent Systems Based on Biological Models 

      Haque, Musad A.; Rahmani, Amir R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      In nature, communal hunting is often performed by predators by charging through an aggregation of prey. However, it has been noticed that variations exist in the geometric shape of the charging front; in addition, ...