Now showing items 199-218 of 230

    • 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. ...
    • Special Section on Symbolic Methods for Complex Control Systems 

      Egerstedt, Magnus B.; Frazzoli, Emilio; Pappas, George (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-06)
      The increasing complexity associated with many modern engineering applications, including autonomous robot guidance and navigation, process control in sensor-rich environments, and control of biological systems, has ...
    • The Sting Racing Team's Entry to the Urban Challenge 

      Powers, Matthew; Wooden, David; Egerstedt, Magnus B.; Christensen, Henrik I.; Balch, Tucker (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2011)
    • Style Based Robotic Motion 

      LaViers, Amy; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
      In this paper, we present an approach to motion sequencing and generation in which “style of motion” is taken into account in a systematic manner. In particular, we present a method for injecting so-called dynamic efforts ...
    • Style-based Abstractions for Human Motion Classification 

      LaViers, Amy; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-04)
      This paper presents an approach to motion analysis for robotics in which a quantitative definition of "style of motion" is used to classify movements. In particular, we present a method for generating a "best match" ...
    • Sustainable Group Sizes for Multi-Agent Search-and-Patrol Teams 

      Haque, Musad A.; Egerstedt, Magnus B.; Martin, Clyde F. (Georgia Institute of Technology, 2010-07)
      We identify sustainable sizes for a multi-agent system that consists of two classes of agents: one class is responsible for searching an area; the other for providing perimeter security for that area. In this context, ...
    • Switched Linear Systems: Stability and the Convergence of Random Products 

      Hanlon, B.; Wang, N.; Egerstedt, Magnus B.; Martin, C. (Georgia Institute of TechnologyInternational Press, 2011)
      In this paper we provide conditions for the stability of discrete time switched linear systems. We accomplish this by calculating the mean and covariance of the set of matrices obtained by using all possible switching ...
    • A Switching Active Sensing Strategy to Maintain Observability for Vision-Based Formation Control 

      Mariottini, Gian Luca; Martini, Simone; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      Vision-based control of a robot formation is challenging because the on-board sensor (camera) only provides the view-angle to the other moving robots, but not the distance that must be estimated. In order to guarantee ...
    • Switching Control in DC-DC Converter Circuits: Optimizing Tracking-Energy Tradeoffs 

      Kawashima, Hiroaki; Taylor, David G.; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevier, 2012-06)
      This paper concerns the problem of optimal switching control in voltage converter circuits, where the objective is to minimize a cost-performance function comprised of the sum of a tracking-related measure and the switching ...