Now showing items 1-20 of 230

    • Control of a Car-Like Robot Using a Virtual Vehicle Approach 

      Egerstedt, Magnus B.; Hu, Xiaoming; Stotsky, A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1998-12)
      A solution to the problem of controlling a car-like nonholonomic robot is proposed using a “virtual” vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model ...
    • 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 ...
    • Control of a Car-Like Robot Using a Virtual Vehicle Approach 

      Egerstedt, Magnus B.; Hu, Xiaoming; Stotsky, A. (Georgia Institute of TechnologyInternational Federation of Automatic Control, 1999-07)
      A solution to the problem of controlling a car-like nonholonomic robot is proposed using a "virtual" vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model ...
    • 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 ...
    • An Integrated Algorithm for Path Planning and Flight Controller Scheduling for Autonomous Helicopters 

      Egerstedt, Magnus B.; Koo, T. J.; Hoffmann, F.; Sastry, S. (Georgia Institute of Technology, 1999-08)
      In this article we investigate how to generate flight trajectories for an autonomous helicopter. Given a set of nominal waypoints we generate trajectories that interpolate close to these points. This path generation is ...
    • 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 ...
    • Behavior Based Robotics Using Regularized Hybrid Automata 

      Egerstedt, Magnus B.; Johansson, K.; Lygeros, J.; Sastry, S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1999-12)
      Investigates how to model a behavior based control system for mobile robots as a hybrid automaton. We show that an automaton, with the nodes corresponding to distinct behaviors, may exhibit an infinite number of discrete ...
    • Behavior Based Robotics Using Hybrid Automata 

      Egerstedt, Magnus (Georgia Institute of TechnologySpringer Verlag, 2000-03)
      In this article, we show how a behavior based control system for autonomous robots can be modeled as a hybrid automaton, where each node corresponds to a distinct robot behavior. This type of construction gives rise to ...
    • 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 ...
    • Coordinated Trajectory Following for Mobile Manipulation 

      Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-04)
      A platform independent control approach for mobile manipulation and coordinated trajectory following is proposed and analyzed. Given a path for the gripper to follow, another path is planned for the base in such a way that ...
    • 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, ...
    • 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 ...
    • Optimal Trajectory Planning and Smoothing Splines 

      Egerstedt, Magnus; Martin, Clyde F. (Georgia Institute of TechnologyElsevier, 2001-07)
      In this paper, some of the relationships between optimal control and trajectory planning are examined. When planning trajectories for linear control systems, a demand that arises naturally in air traffic control or noise ...
    • Linguistic Control of Mobile Robots 

      Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-10)
      In this paper we study the interactions between symbolic computer programs and mechanical devises, e.g. mobile robots. We show that by using motion description languages for generating continuous motions from symbolic input ...
    • Control of Mobile Platforms Using a Virtual Vehicle Approach 

      Egerstedt, Magnus B.; Hu, Xiaoming; Stotsky, A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-11)
      Two model independent solutions to the problem of controlling wheel-based mobile platforms are proposed. These two algorithms are based on a so called virtual vehicle approach, where the motion of the reference point ...
    • 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 ...
    • A Control Lyapunov Function Approach to Multi-Agent Coordination 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      In this paper, the multi-agent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation ...
    • 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 ...
    • On the Specification Complexity of Linguistic Control Procedures 

      Egerstedt, Magnus B. (Georgia Institute of TechnologyNonpareil Publishers, 2002)
      In this paper we combine the ideas of trigger based hybrid systems with that of motion description languages in order to show how continuous machines should interpret and operate on computer generated symbolic (linguistic) ...
    • 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 ...