Now showing items 1-20 of 26

    • 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 ...
    • Containment in Leader-Follower Networks with Switching Communication Topologies 

      Notarstefano, Giuseppe; Egerstedt, Magnus B.; Haque, Musad A. (Georgia Institute of TechnologyElsevier, 2011)
      We study bipartite, first-order networks where the nodes take on leader or follower roles. Specifically, we let the leaders' positions be static and assume that leaders and followers communicate via an undirected switching ...
    • Controlled Coverage Using Time-Varying Density Functions 

      Lee, Sung G.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC), 2013-09)
      A new approach for controlling a system of multiple agents by choosing a time-varying density function is presented, employing optimal coverage ideas. In this approach, we specify a time- varying density function that ...
    • Decentralized Degree Regularization for Multi-Agent Networks 

      Yazıcıoğlu, A. Yasin; Egerstedt, Magnus B.; Shamma, Jeff S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-12)
      Networked multi-agent systems are widely modeled as graphs where the agents are represented as nodes and edges exist between the agents that interact directly. In this setting, the degree of a node is the number of edges ...
    • Deformable-Medium Affordances for Interacting with Multi-Robot Systems 

      Diana, Matteo; de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-11)
      This paper addresses the issue of human-swarm interactions by proposing a new set of affordances that make a multi-robot system amenable to human control. In particular, we propose to use clay – a deformable medium – as ...
    • Dynamic Chess: Strategic Planning for Robot Motion 

      Kunz, Tobias; Kingston, Peter; Stilman, Mike; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      We introduce and experimentally validate a novel algorithmic model for physical human-robot interaction with hybrid dynamics. Our computational solutions are complementary to passive and compliant hardware. We focus on ...
    • Energy-Efficient Data Collection in Heterogeneous Wireless Sensor and Actor Networks 

      Abbas, Waseem; Jaleel, Hassan; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-12)
      In this paper, we address the issue of activity scheduling of sensors in heterogeneous wireless sensor and actor networks (WSANs), thereby proposing an energy-efficient data collection scheme in such networks. In order ...
    • A Formal Approach to the Automatic Generation of Ballet Motions 

      LaViers, Amy; Chen, Yushan; Belta, Calin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-04)
      As cyber-physical systems become more prevalent, specifications for these systems must be formulated in a more nuanced manner. This paper presents a particular instantiation of such specification by proposing a framework ...
    • A Formal Approach to the Automatic Generation of Ballet Phrases 

      LaViers, Amy; Chen, Yushan; Belta, Calin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      This paper presents a novel example where formal methods can be used to generate a type of human behavior. Drawing inspiration from classical ballet, poses are cast as discrete states and movements as the transitions between ...
    • Graph Process Specifications for Hybrid Networked Systems 

      Twu, Philip Y.; Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer, 2012-12)
      Many large-scale multi-agent missions consist of a sequence of subtasks, each of which can be accomplished separately by having agents execute appropriate decentralized controllers. However, many decentralized controllers ...
    • Hybrid Systems Tools for Compiling Controllers for Cyber-Physical Systems 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer, 2011-09-15)
      In this paper, we consider the problem of going from high-level specifications of complex control tasks for cyber-physical systems to their actual implementation and execution on physical devices. This transition between ...
    • Learning from Examples in Unstructured, Outdoor Environments 

      Sun, J.; Mehta, Tejas R.; Wooden, David; Powers, Matthew; Rehg, J.; Balch, Tucker; Egerstedt, Magnus B. (Georgia Institute of TechnologyWiley Periodicals, Inc., 2006)
      In this paper, we present a multi-pronged approach to the "Learning from Example" problem. In particular, we present a framework for integrating learning into a standard, hybrid navigation strategy, composed of both ...
    • Manipulability of Leader-Follower Networks with the Rigid-Link Approximation 

      Kawashima, Hiroaki; Egerstedt, Magnus (Georgia Institute of TechnologyElsevier, 2014-03)
      This paper introduces the notion of manipulability to mobile, multi-agent networks as a tool to analyze the instantaneous effectiveness of injecting control inputs at certain, so-called leader nodes in the network. ...
    • A Measure of Heterogeneity in Multi-Agent Systems 

      Twu, Philip; Mostofi, Yasamin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      Heterogeneous multi-agent systems have previously been studied and deployed to solve a number of different tasks. Despite this, we still lack a basic understanding of just what “heterogeneity” really is. For example, what ...
    • A Modular, Hybrid System Architecture for Autonomous, Urban Driving 

      Wooden, David; Powers, Matthew; Egerstedt, Magnus B.; Christensen, Henrik I.; Balch, Tucker (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-09-26)
      Autonomous navigation in urban environments inevitably leads to having to switch between var- ious, sometimes con icting control tasks. Sting Racing, a collaboration between Georgia Tech and SAIC, has developed a modular ...
    • Multi-Modal Control Using Adaptive Motion Description Languages 

      Mehta, Tejas R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevier, 2007-11-04)
      In this paper, we address the problem of adaptively enriching motion description languages for multi-modal control by systematically enlarging the set of available modes. This problem is formulated as an optimal control ...
    • Multi-Robot Mixing Using Braids 

      Diaz-Mercado, Yancy; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-12)
      This paper presents a method for automatically achieving multi-robot mixing in the sense that the robots follow predefined paths in a somewhat loose sense while ensuring that their actual movements are rich enough. In ...
    • An Optimal Control Approach to Mode Generation in Hybrid Systems 

      Egerstedt, Magnus B.; Azuma, Shun-ichi; Wardi, Yorai (Georgia Institute of Technology, 2006-09)
      Optimal switch-time control is an area that investigates how best to switch between different control modes. In this paper we present an algorithm for solving the optimal switch-time control problem for single-switch, ...
    • Optimal Trajectory Generation for Next Generation Flight Management Systems 

      Diaz-Mercado, Yancy; Lee, Sung G.; Egerstedt, Magnus B.; Young, Shih-Yih (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
      Next generation flight management systems require the compliance of temporal and spatial constraints on navigation performance. The problem of generating fuel-efficient trajectories for aircrafts that comply with the ...
    • 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 ...