• Behavior Based Robotics Using Hybrid Automata 

      Egerstedt, Magnus (Georgia Institute of TechnologySpringer Verlag, 2000-03)
      In this article, we show how a behavior based control system for autonomous robots can be modeled as a hybrid automaton, where each node corresponds to a distinct robot behavior. This type of construction gives rise to ...
    • Control of Autonomous Mobile Robots 

      Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-VerlagBirkhäuser, 2005)
    • From Empirical Data to Multi-Modal Control Procedures 

      Delmotte, Florent; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-Verlag, 2005)
      In this paper we study the problem of generating control programs, i.e. strings of symbolic descriptions of control-interrupt pairs (or modes) from input-output data. In particular, we take the point of view that such ...
    • 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 ...
    • 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 ...
    • 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 ...
    • Optimization of Multi-Agent Motion Programs with Applications to Robotic Marionettes 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-Verlag, 2009-04)
      In this paper, we consider the problem of generating optimized, executable control code from high-level, symbolic specifications. In particular, we construct symbolic control programs using strings from a motion description ...
    • Path Planning and Flight Controller Scheduling for an Autonomous Helicopter 

      Egerstedt, Magnus B.; Koo, T. J.; Hoffmann, F.; Sastry, S. (Georgia Institute of TechnologySpringer Verlag, 1999-03)
      In this article we investigate how to generate flight trajectories for an autonomous helicopter. The planning strategy that we propose reflects the controller architecture. It is reasonable to identify different flight ...
    • Solving Coverage Problems with Embedded Graph Grammars 

      McNew, John-Michael; Klavins, Eric; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer-Verlag, 2007-04)
      We show how Embedded Graph Grammars (EGGs) are used to specify local interaction rules between mobile robots in a natural manner. This formalism allows us to treat local network topologies, geometric transition conditions, ...