Now showing items 100-119 of 230

    • Heterogeneous Multi-Robot Routing 

      Chopra, Smriti; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      We consider the problem of routing multiple robots to service spatially distributed requests at specified time instants, where each robot, as well as each request, is associated with one or more skills (or functions). ...
    • Hierarchical Assembly of Leader-Asymmetric, Single-Leader Networks 

      Abbas, Waseem; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      The connection between leader-asymmetry and controllability in controlled agreement networks provides a topological, necessary condition for controllability. In this paper we investigate how to produce hierarchical networks ...
    • Hierarchical Containment Control in Heterogeneous Mobile Networks 

      Ji, Meng; Egerstedt, Magnus B.; Ferrari-Trecate, G.; Buffa, A. (Georgia Institute of TechnologyMathematical Theory of Networks and Systems, 2006-07)
      In this paper, the multi-agent containment problem is investigated. In particular, we focus our efforts on a continuation of our previous work on leader-follower networks, by imposing a hierarchical structure on the network ...
    • Human-in-the-Loop: Terminal Constraint Receding Horizon Control with Human Inputs 

      Chipalkatty, Rahul; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      This paper presents a control theoretic formulation and optimal control solution for integrating human control inputs subject to linear state constraints. The formulation utilizes a receding horizon optimal controller ...
    • Humanoid Robot Teleoperation for Tasks with Power Tools 

      O'Flaherty, Rowland; Viera, Peter; Grey, M. X.; Oh, Paul; Bobick, Aaron F.; Egerstedt, Magnus B.; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)
      This paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • A Hybrid, Multi-Agent Model of Foraging Bottlenose Dolphins 

      Haque, Musad A.; Rahmani, Amir R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevierThe International Federation of Automatic Control, 2009-09)
      Social behavior of animals can offer solution models for missions involving a large number of heterogeneous vehicles, such as light combat ships, unmanned aerial vehicles, and unmanned underwater vehicles. We draw ...
    • Index-Free Multiagent Systems: An Eulerian Approach 

      Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of Technology, 2010-09)
      Since the properties of systems comprising many homogeneous agents may be expected to be independent of how the agents happen to be indexed, it should be possible to formulate and solve multiagent control problems in an ...
    • An Information Space View of "Time": From Clocks to Open-Loop Control 

      LaValle, Steven M.; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2009)
      This paper addresses the peculiar treatment that time receives when studying control systems. For example, why is the ability to perfectly observe time assumed implicitly in virtually all control formulations? What ...
    • 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 ...
    • Interacting with Networks: How Does Structure Relate to Controllability in Single-Leader Consensus Networks? 

      Egerstedt, Magnus B.; Martini, Simone; Cao, Ming; Camlibel, Kanat; Bicchi, Antonio (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-08)
      As networked dynamical systems appear around us at an increasing rate, questions concerning how to manage and control such systems are becoming more important. Examples include multi-agent robotics, distributed sensor ...
    • Intruder Capturing Game on a Topological Map Assisted by Information Networks 

      Kim, Jonghoek; Maxon, Sean; Egerstedt, Magnus B.; Zhang, Fumin (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      Intruder capturing games on a topological map of a workspace with obstacles are investigated. Assuming that a searcher can access the position of any intruder utilizing information networks, we provide theoretical upper ...
    • Laplacian Sheep: A Hybrid, Stop-Go Policy for Leader-Based Containment Control 

      Ferrari-Trecate, G.; Egerstedt, Magnus B.; Buffa, A.; Ji, Meng (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2006-03)
      The problem of driving a collection of mobile robots to a given target location is studied in the context of partial difference equations. In particular, we are interested in achieving this transfer while ensuring that ...
    • Leader Selection via the Manipulability of Leader-Follower Networks 

      Kawashima, Hiroaki; Egerstedt, Magnus B. (Georgia Institute of Technology, 2012-06)
      In this paper, we address the problem of selecting leaders in a network by investigating how much instantaneous impact the leaders have on the remaining agents. As a measurement of the influence of leaders’ inputs, we ...
    • A Leader-based Containment Control Strategy for Multiple Unicycles 

      Dimarogonas, Dimos V.; Egerstedt, Magnus B.; Kyriakopoulos, Kostas J. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-12)
      In this paper, a leader based containment control strategy for multiple unicycle agents is introduced. Similar results for the single integrator case examined in [7] are derived based on the theory of Partial Difference ...
    • Leader-Based Multi-Agent Coordination Through Hybrid Optimal Control 

      Björkenstam, Staffan; Ji, Meng; Egerstedt, Magnus B.; Martin, Clyde F. (Georgia Institute of TechnologyUniversity of Illinois at Urbana-Champaign, 2006-09)
      The problem of optimally transferring a linear dynamical system between affine varieties arises in a number of applications such as path planning and robot coordination. In this paper, this problem, as well as generalizations ...
    • Learnability for Dynamical Systems 

      O’Flaherty, Rowland; Egerstedt, Magnus (Georgia Institute of Technology, 2014-07)
      This paper takes a step towards defining what it means for a dynamical system, such as a robot, to be able to learn through the notion of learnability. It takes a system-theoretic view to define what learning is and ...