Now showing items 1-20 of 65

    • Adaptive Time Horizon Optimization in Model Predictive Control 

      Droge, Greg; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      Whenever the control task involves the tracking of a reference signal the performance is typically improved if one knows the future behavior of this reference. However in many applications this is typically not the case ...
    • Air Traffic Maximization for the Terminal Phase of Flight Under FAA's NextGen Framework 

      Chipalkatty, Rahul; Rahmani, Amir R.; Egerstedt, Magnus B.; Young, R.; Twu, Philip Y. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      The NextGen program is the FAA's response to the ever increasing air traffic, that provides tools to increase the capacity of national airspace, while ensuring the safety of aircraft. In support of this vision, this paper ...
    • Algorithm for Optimal Mode Scheduling in Switched Systems 

      Wardi, Yorai; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
      This paper considers the problem of computing the schedule of modes in an autonomous switched dynamical system, that minimizes a cost functional defined on the trajectory of the system’s continuous state variable. It ...
    • Approximate Manipulability of Leader-Follower Networks 

      Kawashima, Hiroaki; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      We introduce the notion of manipulability to leader-follower networks as a tool to analyze how effective inputs injected at a leader node are in terms of their impact on the movements of the follower nodes, as a function ...
    • 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 ...
    • Behavior-Based Switch-Time MPC for Mobile Robots 

      Droge, Greg; Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      Model predictive control can be computationally intensive as it has to compute an optimal control trajectory at each time instant. As such, we present a method in which parametrized behaviors are introduced as a level of ...
    • Biologically Motivated Shape Optimization of Foraging Fronts 

      Haque, Musad A.; Rahmani, Amir R.; Egerstedt, Magnus B.; Yezzi, Anthony (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      Social animals often form a predator front to charge through an aggregation of prey. It is observed that the nature of the feeding strategy dictates the geometric shape of these charging fronts. Inspired by this observation, ...
    • Cloud-Based Optimization: A Quasi-Decentralized Approach to Multi-Agent Coordination 

      Hale, M.T.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
      New architectures and algorithms are needed to reflect the mixture of local and global information that is available as multi-agent systems connect over the cloud. We present a novel architecture for multi-agent coordination ...
    • Control of Multiagent Systems under Persistent Disturbances 

      Yucelen, Tansel; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
      This paper focuses on the consensus and formation problems of multiagent systems under unknown, persistent disturbances. Specifically, we propose a method that combines an existing consensus (or formation) algorithm with ...
    • Controllability Characterizations of Leader-Based Swarm Interactions 

      de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyAssociation for the Advancement of Artificial Intelligence, 2012-11)
      In this paper, we investigate what role the network topology plays when controlling a network of mobile robots. This is a question of key importance in the emerging area of humanswarm interaction and we approach this ...
    • A Controlled-Precision Algorithm for Mode-Switching Optimization 

      Wardi, Yorai; Egerstedt, Magnus B.; Twu, Philip Y. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-12)
      This paper describes an adaptive-precision algorithm for solving a general optimal mode-scheduling problem in switched-mode dynamical systems. The problem is complicated by the fact that the controlled variable has discrete ...
    • Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2009-09)
      In this paper, we present feedback control laws for an autonomous vehicle with rigidly mounted range sensors to track a desired curve. In particular, we consider a vehicle that has a group of rays around two center rays ...
    • Decentralized Formation of Random Regular Graphs or Robust Multi-Agent Networks 

      Yazıcıoğlu, A. Yasin; Egerstedt, Magnus B.; Shamma, Jeff S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
      Multi-agent networks are often modeled via interaction graphs, where the nodes represent the agents and the edges denote direct interactions between the corresponding agents. Interaction graphs have significant impact on ...
    • The Degree of Nonholonomy in Distributed Computations 

      Costello, Zak; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
      A network of locally interacting agents can be thought of as performing a distributed computation. But not all computations can be faithfully distributed. This paper discusses which global linear transformations can be ...
    • Distributed Power Allocation in Prosumer Networks 

      Ramachandran, Thiagarajan; Costello, Zak; Kingston, Peter; Grijalva, Santiago; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevier, 2012-09)
      Due to requirements of renewable and distributed energy integration,sustainability and energy security, the existing power grid is undergoing radical changes.The lines between producers and consumers are becoming blurred. ...
    • Distributed Scheduling for Air Traffic Throughput Maximization During the Terminal Phase of Flight 

      Chipalkatty, Rahul; Rahmani, Amir R.; Egerstedt, Magnus B.; Twu, Philip Y. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      FAA’s NextGen program aims at increasing the capacity of the national airspace, while ensuring the safety of aircraft. This paper provides a distributed merging and spacing algorithm that maximizes the throughput at the ...
    • Distributed-Infrastructure Multi-Robot Routing using a Helmholtz-Hodge Decomposition 

      Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      Using graphs and simplicial complexes as models for an environment containing a large number of agents, we provide distributed algorithms based on the Helmholtz-Hodge decomposition that, given desired flow rates on edges ...
    • Distribution of Agents in Heterogeneous Multi Agent Systems 

      Abbas, Waseem; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      Heterogeneous multiagent systems are useful for performing various complex distributed tasks. The effectiveness and scope of service such systems provide, can be attributed to the distribution of agents of different types ...
    • Distribution of Agents with Multiple Capabilities in Heterogeneous Multiagent Networks – A Graph Theoretic View 

      Abbas, Waseem; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-12)
      In this paper, we investigate how to distribute agents of different types in heterogeneous multiagent systems. Heterogeneity can for instance be related to various resources and capabilities agents may have. We insist that ...
    • Duty Cycle Scheduling in Dynamic Sensor Networks for Controlling Event Detection Probabilities 

      Jaleel, Hassan; Rahmani, Amir R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      A sensor network comprising of RF or radar-based sensors has a deteriorating performance in that the effective sensor footprint shrinks as the power level decreases. Power is typically only drawn from the sensor nodes when ...