Now showing items 91-110 of 230

    • 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, ...
    • Graph Process Specifications for Hybrid Networked Systems 

      Martin, Patrick; Egerstedt, Magnus B.; Twu, Philip Y. (Georgia Institute of Technology, 2010-08)
      Research in multi-agent systems has supplied a diverse collection of decentralized controllers to accomplish specific tasks. When agents execute a sequence of these controllers, the network behaves as a hybrid system, ...
    • Graph Process Specifications for Hybrid Networked Systems 

      Twu, Philip Y.; Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer, 2012-12)
      Many large-scale multi-agent missions consist of a sequence of subtasks, each of which can be accomplished separately by having agents execute appropriate decentralized controllers. However, many decentralized controllers ...
    • Graph Theoretic Connectivity Control of Mobile Robot Networks 

      Zavlanos, Michael M.; Egerstedt, Magnus B.; Pappas, George J. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011)
      In this paper we provide a theoretical framework for controlling graph connectivity in mobile robot networks. We discuss proximity-based communication models composed of disk-based or uniformly fading signal strength ...
    • 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 ...
    • The GRITSBot in its Natural Habitat - A Multi-Robot Testbed 

      Pickem, Daniel; Lee, Myron; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-05)
      Current multi-agent robotic testbeds are prohibitively expensive or highly specialized and as such their use is limited to a small number of research laboratories. Given the high price tag, what is needed to scale ...
    • Group-Size Selection for a Parameterized Class of Predator-Prey Models 

      de la Croix, Jean-Pierre; Egerstedt, Magnus (Georgia Institute of Technology, 2014-07)
      In this paper, we investigate whether we can qualitatively recover the appropriate group sizes for a team of predators by varying environmental and operational conditions. The result is a combination of biologically ...
    • Heterogeneous Multi-Robot Routing 

      Chopra, Smriti; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      We consider the problem of routing multiple robots to service spatially distributed requests at specified time instants, where each robot, as well as each request, is associated with one or more skills (or functions). ...
    • Hierarchical Assembly of Leader-Asymmetric, Single-Leader Networks 

      Abbas, Waseem; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      The connection between leader-asymmetry and controllability in controlled agreement networks provides a topological, necessary condition for controllability. In this paper we investigate how to produce hierarchical networks ...
    • 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 ...
    • Human-in-the-Loop: Terminal Constraint Receding Horizon Control with Human Inputs 

      Chipalkatty, Rahul; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      This paper presents a control theoretic formulation and optimal control solution for integrating human control inputs subject to linear state constraints. The formulation utilizes a receding horizon optimal controller ...
    • Humanoid Robot Teleoperation for Tasks with Power Tools 

      O'Flaherty, Rowland; Viera, Peter; Grey, M. X.; Oh, Paul; Bobick, Aaron F.; Egerstedt, Magnus B.; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)
      This paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires ...
    • A Hybrid Control Approach to Action Coordination for Mobile Robots 

      Egerstedt, Magnus B.; Hu, Xiaoming; Stotsky, A. (Georgia Institute of Technology, 1999-07)
      In this paper, the problem of how to integrate different robotic actions, within a behavior-based framework, is investigated. The case we study is the obstacle negotiation problem, and our approach is based on planned on ...
    • A Hybrid Control Approach to Action Coordination for Mobile Robots 

      Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyElsevier, 2002-01)
      In this paper, the problem concerning how to coordinate the contributions from concurrent controllers, when controlling mobile robots, is investigated. It is shown how a behavior based control system for autonomous robots ...
    • A Hybrid Control Architecture for Mobile Manipulation 

      Petersson, L.; Egerstedt, Magnus B.; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1999-10)
      We present a scheme for mobile manipulation by introducing a mobile manipulation control architecture (MMCA). This architecture is motivated by a need for a systematic control structure for robotic manipulation within a ...
    • Hybrid Systems Tools for Compiling Controllers for Cyber-Physical Systems 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer, 2011-09-15)
      In this paper, we consider the problem of going from high-level specifications of complex control tasks for cyber-physical systems to their actual implementation and execution on physical devices. This transition between ...
    • A Hybrid, Multi-Agent Model of Foraging Bottlenose Dolphins 

      Haque, Musad A.; Rahmani, Amir R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevierThe International Federation of Automatic Control, 2009-09)
      Social behavior of animals can offer solution models for missions involving a large number of heterogeneous vehicles, such as light combat ships, unmanned aerial vehicles, and unmanned underwater vehicles. We draw ...
    • Index-Free Multiagent Systems: An Eulerian Approach 

      Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of Technology, 2010-09)
      Since the properties of systems comprising many homogeneous agents may be expected to be independent of how the agents happen to be indexed, it should be possible to formulate and solve multiagent control problems in an ...