Now showing items 1-20 of 37

    • Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints 

      Smith, Brian Stephen; Egerstedt, Magnus B.; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersSpringer Verlag, 2009-06)
      In this paper we present a collection of graph-based methods for determining if a team of mobile robots, subjected to sensor and communication range constraints, can persistently achieve a specified formation. What we ...
    • Autonomous Formation Switching for Multiple, Mobile Robots 

      Axelsson, Henrik; Muhammad, Abubakr; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Federation of Automatic Control, 2003-06)
      In this paper we investigate the question concerning what multi-agent formations to use in a given situation. In particular, we show how it is possible to produce a control strategy for teams of mobile robots that switches ...
    • Behavior-Based Switch-Time MPC for Mobile Robots 

      Droge, Greg; Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      Model predictive control can be computationally intensive as it has to compute an optimal control trajectory at each time instant. As such, we present a method in which parametrized behaviors are introduced as a level of ...
    • Control Barrier Certificates for Safe Swarm Behavior 

      Borrmann, Urs; Wang, Li; Ames, Aaron D.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2015-10)
      Multi-agent robotics involves the coordination of large numbers of robots, which leads to significant challenges in terms of collision avoidance. This paper generates provably collision free swarm ...
    • A Control Lyapunov Function Approach to Multi-Agent Coordination 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2002-10)
      In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation ...
    • Control of a Car-Like Robot Using a Virtual Vehicle Approach 

      Egerstedt, Magnus B.; Hu, Xiaoming; Stotsky, A. (Georgia Institute of TechnologyInternational Federation of Automatic Control, 1999-07)
      A solution to the problem of controlling a car-like nonholonomic robot is proposed using a "virtual" vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model ...
    • Control of a Car-Like Robot Using a Virtual Vehicle Approach 

      Egerstedt, Magnus B.; Hu, Xiaoming; Stotsky, A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1998-12)
      A solution to the problem of controlling a car-like nonholonomic robot is proposed using a “virtual” vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model ...
    • Controllability Characterizations of Leader-Based Swarm Interactions 

      de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyAssociation for the Advancement of Artificial Intelligence, 2012-11)
      In this paper, we investigate what role the network topology plays when controlling a network of mobile robots. This is a question of key importance in the emerging area of humanswarm interaction and we approach this ...
    • 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 ...
    • 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 ...
    • Flipping the Controls Classroom Around a MOOC 

      Egerstedt, Magnus; de la Croix, Jean-Pierre (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      Bridging the theory-practice gap in controls education is a well-known challenge. In this paper, we discuss how one can bridge this gap using a flipped classroom. Based on the recent MOOC (Massive Open Online Course), ...
    • Formation Constrained Multi-Agent Control 

      Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      We propose a model independent coordination strategy for multi-agent formation control. The main theorem states that under a bounded tracking error assumption our method stabilizes the formation error. We illustrate the ...
    • Formation Constrained Multi-Agent Control 

      Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-05)
      We propose a model independent coordination strategy for multi-agent formation control. The main theorem states that under a bounded tracking error assumption our method stabilizes the formation error. We illustrate the ...
    • A Game Theoretic Approach to Distributed Coverage of Graphs by Heterogeneous Mobile Agents 

      Yazıcıoğlu, A. Yasin; Egerstedt, Magnus B.; Shamma, Jeff S. (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC), 2013-09)
      In this paper, we study the problem of covering an apriori unknown network structure by a group of mobile agents with possibly nonidentical coverage and communication capabilities. The network is represented as a graph, ...
    • A Game-theoretic Formulation of the Homogeneous Self-Reconfiguration Problem 

      Pickem, Daniel; Egerstedt, Magnus B.; Shamma, Jeff S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
      In this paper we formulate the homogeneous two- and three-dimensional self-reconfiguration problem over discrete grids as a constrained potential game. We develop a game-theoretic learning algorithm based on the ...
    • Group-Size Selection for a Parameterized Class of Predator-Prey Models 

      de la Croix, Jean-Pierre; Egerstedt, Magnus (Georgia Institute of Technology, 2014-07)
      In this paper, we investigate whether we can qualitatively recover the appropriate group sizes for a team of predators by varying environmental and operational conditions. The result is a combination of biologically ...
    • 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 ...
    • 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 ...
    • 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 ...