Now showing items 1-20 of 63

    • Analyzing Human-Swarm Interactions Using Control Lyapunov Functions and Optimal Control. 

      de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyAmerican Institute of Mathematical Sciences, 2015-09)
      A number of different interaction modalities have been proposed for human engagement with networked systems. In this paper, we establish formal guarantees for whether or not a given such human-swarm interaction (HSI) ...
    • Automatic Formation Deployment of Decentralized Heterogeneous Multiple-Robot Networks with Limited Sensing Capabilities 

      Smith, Brian Stephen; Wang, Jiuguang; Egerstedt, Magnus B.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      Heterogeneous multi-robot networks require novel tools for applications that require achieving and maintaining formations. This is the case for distributing sensing devices with heterogeneous mobile sensor networks. ...
    • Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints 

      Smith, Brian Stephen; Egerstedt, Magnus B.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2009-06)
      In this paper we present a collection of graph-based methods for determining if a team of mobile robots, subjected to sensor and communication range constraints, can persistently achieve a specified formation. What we ...
    • Autonomous Driving in Urban Environments: Approaches, Lessons, and Challenges 

      Campbell, M.; Egerstedt, Magnus; How, J. P.; Murray, R. M. (Georgia Institute of TechnologyThe Royal Society, 2010)
      The development of autonomous vehicles for urban driving has seen rapid progress in the past 30 years. This paper provides a summary of the current state of the art in autonomous driving in urban environments, based ...
    • Battery Level Estimation of Mobile Agents Under Communication Constraints 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-06)
      Consider a team of mobile agents monitoring large areas, e.g. in the ocean or the atmosphere, with limited sensing resources. Only the leader transmits information to other agents, and the leader has a role to monitor ...
    • Characterizing Heterogeneity in Cooperative Networks From a Resource Distribution View-Point 

      Abbas, Waseem; Egerstedt, Magnus (Georgia Institute of TechnologyInternational Press, 2014-11)
      A network of agents in which agents with a diverse set of resources or capabilities interact and coordinate with each other to accomplish various tasks constitutes a heterogeneous cooperative network. In this paper, we ...
    • Conflict Resolution for Autonomous Vehicles: A Case Study in Hierarchical Control Design 

      Egerstedt, Magnus B.; Martin, Clyde F. (Georgia Institute of TechnologyNonpareil Publishers, 2002-09)
      In this paper we consider the problem of conflict avoidance for autonomous systems using a hierarchical control strategy that we establish using the notion of predicate consistent abstractions. We apply our proposed ...
    • Constrained Agreement Protocols for Tree Graph Topologies 

      Chipalkatty, Rahul; Egerstedt, Magnus B. (Georgia Institute of TechnologyTaylor & Francis, 2011-02)
      This paper presents a novel way of manipulating the initial conditions in the consensus equation such that a constrained agreement problem is solved across a distributed network of agents, particularly for a network ...
    • Constructing and Implementing Motion Programs for Robotic Marionettes 

      Martin, Patrick; Johnson, Elliot; Murphey, Todd D.; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-04)
      This technical note investigates how to produce control programs for complex systems in a systematic manner. In particular, we present an abstraction-based approach to the specification and optimization of motion programs ...
    • Containment Control in Mobile Networks 

      Ji, Meng; Ferrari-Trecate, G.; Egerstedt, Magnus B.; Buffa, A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-09)
      In this paper, the problem of driving a collection of mobile robots to a given target destination is studied. In particular, we are interested in achieving this transfer in an orderly manner so as to ensure that the agents ...
    • Continuous-time Proportional-Integral Distributed Optimization for Networked Systems 

      Droge, Greg; Kawashima, Hiroaki; Egerstedt, Magnus (Georgia Institute of TechnologyTaylor & Francis Group, 2014-07)
      In this paper we explore the relationship between dual decomposition and the consensus-based method for distributed optimization. The relationship is developed by examining the similarities between the two approaches and ...
    • 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, 2002-10)
      In this paper, the multiagent 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 ...
    • 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 ...
    • Controllability of Homogeneous Single-Leader Networks 

      Egerstedt, Magnus B.; Martini, Simone; Twu, Philip Y. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      This paper addresses an aspect of controllability in a single-leader network when the agents are homogeneous. In such a network, indices are not assigned to the individual agents and controllability, which is typically ...
    • Controllability of Multi-Agent Systems from a Graph-Theoretic Perspective 

      Rahmani, Amir R.; Ji, Meng; Mesbahi, Mehran; Egerstedt, Magnus B. (Georgia Institute of TechnologySociety for Industrial and Applied Mathematics, 2009-02)
      In this work, we consider the controlled agreement problem for multi-agent networks, where a collection of agents take on leader roles while the remaining agents execute local, consensus-like protocols. Our aim is to ...
    • Curve Tracking for Autonomous Vehicles with Rigidly Mounted Range Sensors 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-12)
      In this paper, we present a feedback control law to make an autonomous vehicle with rigidly mounted range sensors track a desired curve. In particular, we consider a vehicle which has two range sensors that emit rays ...
    • Data-Driven Generation of Low-Complexity Control Programs 

      Delmotte, Florent; Egerstedt, Magnus B.; Austin, Adam (Georgia Institute of TechnologyNonpareil Publishers, 2004)
      In this paper we study the problem of generating control programs, i.e. strings of symbolic descriptions of control-interrupt pairs (or modes) from input-output data. In particular, we take the point of view that such ...
    • Design, Control, and Applications of Real-World Multi-Robot Systems 

      Kitts, Christopher A.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-03)
    • Distributed Coordination Control of Multi-Agent Systems While Preserving Connectedness. 

      Ji, Meng; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-08)
      This paper addresses the connectedness issue in multiagent coordination, i.e., the problem of ensuring that a group of mobile agents stays connected while achieving some performance objective. In particular, we study ...
    • Executive Decision Support: Single-Agent Control of Multiple UAVs 

      Ding, Xu Chu; Powers, Matthew; Egerstedt, Magnus B.; Young, Shih-Yih (Ryan); Balch, Tucker (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      One challenge facing coordination and deployment of unmanned aerial vehicles (UAVs) today is the amount of human involvement needed to carry out a successful mission. Currently, control and coordination of UAVs typically ...