Now showing items 126-145 of 230

    • 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 ...
    • Motion Description Languages for Multi-Modal Control in Robotics 

      Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-Verlag, 2002-12)
      In this paper we outline how motion description languages provide useful tools when designing multi-modal control laws in robotics. Of particular importance is the introduction of the description length as a measure of how ...
    • Motion Preference Learning 

      Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      In order to control systems to meet subjective criteria, one would like to construct objective functions that accurately represent human preferences. To do this, we develop robust estimators based on convex optimization ...
    • Motion Probes for Fault Detection and Recovery in Networked Control Systems 

      Franceschelli, Mauro; Egerstedt, Magnus B.; Giua, Alessandro (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersAmerican Automatic Control Council, 2008-06)
      In this paper we address the problem of how to excite networked control systems in such a way that faulty, and possibly malicious, agents can be detected. In particular, we envision a scenario in which a subset of the ...
    • Motion Programs for Multi-Agent Control: From Specification to Execution 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of Technology, 2010-07)
      This paper explores the process of turning high-level motion programs into executable control code for multi-agent systems. Specifically, we use a modified Motion Description Language (MDL) for networked systems that ...
    • Motion Programs for Puppet Choreography and Control 

      Egerstedt, Magnus B.; Murphey, Todd D.; Ludwig, Jon (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2007-04)
      This paper presents a motion description language (MDLp) for specifying and encoding autonomous puppetry plays in a manner that is faithful to the way puppetry choreography is currently formulated. In particular, MDLp ...
    • 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-Pendulum Synchronization Using Constrained Agreement Protocols 

      Chipalkatty, Rahul; Egerstedt, Magnus B.; Azuma, Shun-ichi (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-04)
      This paper considers the problem of coordinating multiple pendula attached to mobile bases. In particular, the pendula should move in such a way that their motion is synchronized, which calls for two problems to be ...
    • Multi-Process Control Software for Humanoid Robots 

      Grey, M. X.; Dantam, Neil; Lofaro, Daniel M.; Bobick, Aaron F.; Egerstedt, Magnus B.; Oh, Paul; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)
      Humanoid robots require greater software reliability than traditional mechatronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which distributes ...
    • Multi-Robot Control Using Time-Varying Density Functions 

      Lee, Sung G.; Diaz-Mercad, Yancy; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-04)
      An approach is presented for influencing teams of robots by means of time-varying density functions, representing rough references for where the robots should be located. A continuous-time coverage algorithm is proposed ...
    • Multi-Robot Deployment and Coordination with Embedded Graph Grammars 

      Smith, Brian Stephen; Howard, Ayanna; McNew, John-Michael; Egerstedt, Magnus (Georgia Institute of TechnologySpringer Verlag, 2009-01)
      This paper presents a framework for going from specifications to implementations of decentralized control strategies for multi-robot systems. In particular, we show how the use of Embedded Graph Grammars (EGGs) provides a ...
    • 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 ...
    • Multi-robot routing for servicing spatio-temporal requests: A musically inspired problem 

      Chopra, Smriti; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevier, 2012-06)
      In this paper, we consider the problem of routing multiple robots to service spatially distributed requests at specified time instants. As a motivating example, we present the Robot MusicWall, a musically instrumented ...