Now showing items 191-210 of 230

    • 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 ...
    • Self-Reconfiguration Using Graph Grammars for Modular Robotics 

      Pickem, Daniel; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevier, 2012-06)
      In this paper, we apply graph grammars to self-reconfigurable modular robots and present a method to reconfigure arbitrary initial configurations into pre specified target configurations thus connecting the motions of ...
    • A Separation Signal for Heterogeneous Networks 

      de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      Organizing a large-scale, heterogeneous network of agents into clusters based on the agents’ class is a useful preprocessing step for cooperative tasks, where agents with the same capabilities need to be in the same ...
    • Set-Valued Protocols for Almost Consensus of Multiagent Systems with Uncertain Interagent Communication 

      Sadikhov, Teymur; Haddad, Wassim M.; Goebel, Rafal; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      One of the main challenges in robotics applications is dealing with inaccurate sensor data. Specifically, for a group of mobile robots the measurement of the exact location of the other robots relative to a particular ...
    • Shortest Paths Through 3-Dimensional Cluttered Environments 

      Lu, Jun; Diaz-Mercado, Yancy; Egerstedt, Magnus; Zhou, Haomin; Chow, Shui-Nee (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      This paper investigates the problem of finding shortest paths through 3-dimensional cluttered environments. In particular, an algorithm is presented that determines the shortest path between two points in an environment ...
    • Simultaneous Cooperative Exploration and Networking based on Voronoi Diagrams 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of Technology, 2009-10)
      We develop a strategy that enables multiple intelligent vehicles to cooperatively explore complex and dangerous territories. Every vehicle drops communication devices and expands an information network while constructing ...
    • Smoothing Splines on the Torus 

      Egebrand, Freja; Egerstedt, Magnus B.; Martin, Clyde F. (Georgia Institute of Technology, 2010-07)
      An algorithm is presented for constructing smoothing splines on the torus. The algorithm uses a particular representation of the torus and is suboptimal. However it produces good trajectories and among all possible smoothing ...
    • A Software Tool for Hybrid Control 

      Delmotte, Florent; Mehta, Tejas R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-03)
      In this article, we introduce the MODEbox tool for automatically producing hybrid, multimodal control programs from data. In particular, given an I/O string, four distinct operational units are introduced. The application ...
    • 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, ...
    • Some Complexity Aspects of the Control of Mobile Robots 

      Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersAmerican Automatic Control Council, 2002-05)
      In an earlier work it was shown how the length of the specification of a control procedure is affected by the availability of sensory information. In particular, it was shown that this length can be reduced by a ...
    • Spatio-Temporal Multi-Robot Routing 

      Chopra, Smriti; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevier, 2015-10)
      In this paper, we consider the problem of routing multiple robots to service spatially distributed requests at specified time instants. We show that such a routing problem can be formulated as a pure assignment problem. ...