Now showing items 1-20 of 35

    • 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 ...
    • 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 ...
    • 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 ...