Now showing items 100-119 of 209

    • 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 ...
    • 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 ...
    • Learning Multi-Modal Control Programs 

      Mehta, Tejas R.; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-Verlag, 2005-03)
      Multi-modal control is a commonly used design tool for breaking up complex control tasks into sequences of simpler tasks. In this paper, we show that by viewing the control space as a set of such tokenized instructions ...
    • Learning to Locomote: Action Sequences and Switching Boundaries 

      O'Flaherty, Rowland; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-08)
      This paper presents a hybrid control strategy for learning the switching boundaries between primitive controllers that maximize the translational movements of complex locomoting systems. Through this abstraction, the ...
    • Less Is More: Mixed Initiative Model Predictive Control with Human Inputs 

      Chipalkatty, Rahul; Droge, Greg; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      This paper presents a new method for injecting human inputs into mixed-initiative interactions between humans and robots. The method is based on a model-predictive control (MPC) formulation, which inevitably involves ...
    • 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 ...
    • Low-Dimensional Learning for Complex Robots 

      O’Flaherty, Rowland; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-01)
      This paper presents an algorithm for learning the switching policy and the boundaries conditions between primitive controllers that maximize the translational movements of a complex locomoting system. The algorithm ...
    • 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. ...
    • MDLn: A Motion Description Language for Networked Systems 

      Martin, Patrick; de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-12)
      In this paper we extend the definition of a Motion Description Language (MDL) to networked systems. This new construction (MDLn) supports inter-agent specification rules as well as desired network topologies, enabling ...
    • 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 ...
    • Merging and Spacing of Heterogeneous Aircraft in Support of NextGen 

      Chipalkatty, Rahul; Twu, Philip Y.; Rahmani, Amir R.; Egerstedt, Magnus B. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2012-09)
      FAA’s NextGen program aims to increase 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 ...
    • Minimizing Mobility and Communication Energy in Robotic Networks: an Optimal Control Approach 

      Jaleel, Hassan; Wardi, Yorai; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      This paper concerns the problem of minimizing the sum of motion energy and communication energy in a network of mobile robots. The robotic network is charged with the task of transmitting sensor information from a given ...
    • 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 ...
    • Motion Alphabet Augmentation Based on Past Experiences 

      Mehta, Tejas R.; Delmotte, Florent; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-12)
      Multi-modal control is a commonly used design tool for breaking up complex control tasks into sequences of simpler tasks. It has previously been shown that rapidly-exploring randomized trees (as well as other viable ...
    • Motion Description Language-Based Topological Maps for Robot Navigation 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Press, 2008)
      Robot navigation over large areas inevitably has to rely on maps of the environment. The standard manner in which such maps are defined is through geometry, e.g. through traversability grid maps or through a division of ...