Now showing items 181-200 of 230

    • Pair-Wise Agreement Using Set-Valued Sensors 

      Ramachandran, Thiagarajan; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC), 2013-09)
      In this paper, we study the effect that set-valued sensors have on coordination algorithms. In particular, we investigate the two-agent rendezvous problem with severely limited sensing. We characterize conditions under ...
    • Pancakes: A Software Framework for Distributed Robot and Sensor Network Applications 

      Martin, Patrick; de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of Technology, 2010-11)
      The development of control applications for multi-agent robot and sensor networks is complicated by the heterogeneous nature of the systems involved, as well as their physical capabilities (or limitations). We propose a ...
    • Pancakes: A Software Framework for Distributed Robot and Sensor Network Applications 

      Martin, Patrick; de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2013)
      The development of control applications for multi-agent robot and sensor networks is complicated by the heterogeneous nature of the systems involved, as well as their physical capabilities (or limitations).We propose a ...
    • Path Planning and Flight Controller Scheduling for an Autonomous Helicopter 

      Egerstedt, Magnus B.; Koo, T. J.; Hoffmann, F.; Sastry, S. (Georgia Institute of TechnologySpringer Verlag, 1999-03)
      In this article we investigate how to generate flight trajectories for an autonomous helicopter. The planning strategy that we propose reflects the controller architecture. It is reasonable to identify different flight ...
    • Persistent Formation Control for Multi-Robot Networks 

      Smith, Brian Stephen; Wang, Jiuguang; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-12)
      This paper presents a method for controlling formations of mobile robots. In particular, the problem of maintaining so-called "persistent formations" while moving the formation from one location to another is defined ...
    • Power-Aware Rendezvous with Shrinking Footprints 

      Jaleel, Hassan; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-09)
      In this paper we investigate how power consumption affects mobility-based coordination algorithms for multirobot systems by explicitly coupling the control laws to the available power levels. In particular, we will ...
    • Power-Aware Sensor Coverage: An Optimal Control Approach 

      Martin, Patrick; Galvan-Guerra, Rosalba; Egerstedt, Magnus B.; Azhmyakov, Vadim (Georgia Institute of Technology, 2010-07)
      Sensor networks primarily have two competing objectives: they must sense as much as possible, yet last as long as possible when deployed. In this paper, we approach this problem using optimal control. We describe a model ...
    • Probabilistic Life Time Maximization of Sensor Networks 

      Jaleel, Hassan; Rahmani, Amir R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-02)
      The design of power-aware lifetime maximization algorithms for sensor networks is an active area of research. However, the standard assumption is that the performance of the sensors remains the same throughout the network’s ...
    • Proportional Integral Distributed Optimization for Dynamic Network Topologies 

      Droge, Greg; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      This paper investigates proportional-integral distributed optimization when the underlying information exchange network is dynamic. Proportional-integral distributed optimization is a technique which combines consensus-based ...
    • A provably complete exploration strategy by constructing Voronoi diagrams 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2010)
      We present novel exploration algorithms and a control law that enables the construction of Voronoi diagrams over unknown areas using a single vehicle equipped with range sensors. The control law uses range measurements ...
    • Reactive Mobile Manipulation Using Dynamic Trajectory Tracking 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-04)
      A solution to the trajectory tracking problem for mobile manipulators is proposed, that allows for the base to be influenced by a reactive, obstacle avoidance behavior. Given a trajectory for the gripper to follow, a ...
    • Reactive Mobile Manipulation: Design and Implementation 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-12)
      A solution to the trajectory tracking problem for mobile manipulators is proposed and implemented on a real robotic system. Given a trajectory for the gripper to follow, a tracking algorithm for the manipulator is designed, ...
    • 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 ...
    • 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 ...
    • Rendezvous with Multiple, Intermittent Leaders 

      Notarstefano, Giuseppe; Egerstedt, Magnus B.; Haque, Musad A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-12)
      In this paper we study bipartite, first order-networks where the nodes take on leader or follower roles. In particular, we let the leaders' positions be static and assume that they are only intermittently visible to the ...
    • Responsiveness and Manipulability of Formations of Multi-Robot Networks 

      Kawashima, Hiroaki; Zhu, Guangwei; Hu, Jianghai; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-12)
      This paper unifies the previously defined instantaneous measures of responsiveness in multi-agent systems, namely those of stiffness and manipulability. These concepts are used for characterizing how a networked multi-agent ...
    • Robust Graph Topologies for Networked Systems 

      Abbas, Waseem; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevier, 2012-09)
      Robustness of networked systems against noise corruption and structural changes in an underlying network topology is a critical issue for a reliable performance. In this paper, we investigate this issue of robustness in ...
    • 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 ...
    • Scaling the Size of a Multiagent Formation via Distributed Feedback 

      Coogan, Samuel; Arcak, Murat; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      We consider a multiagent coordination problem where the objective is to steer a group of agents into a formation that translates along a predefined trajectory velocity. Unlike previous control strategies that require a ...
    • Securing Multiagent Systems Against a Sequence of Intruder Attacks 

      Abbas, Waseem; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
      In this paper, we discuss the issue of security in multiagent systems in the context of their underlying graph structure that models the interconnections among agents. In particular, we investigate the minimum number of ...