Now showing items 1-11 of 11

    • Constrained Invariant Motions for Networked Multi-Agent Systems 

      Franceschelli, Mauro; Egerstedt, Magnus B.; Giua, Alessandro; Mahulea, Cristian (Georgia Institute of TechnologyAmerican Automatic Control Council, 2009-06)
      In this paper we propose a methodology to solve the constrained consensus problem, i.e., the consensus problem for multi-agent systems with constrained dynamics. We propose a decentralized one-step horizon optimization ...
    • Feedback Can Reduce the Specification Complexity of Motor Programs 

      Egerstedt, Magnus B.; Brockett, Roger W. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      In this paper we show that when it is possible to use feedback in the specifications of "motor programs", the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a factor ...
    • Feedback Can Reduce the Specification Complexity of Motor Programs 

      Egerstedt, Magnus B.; Brockett, Roger W. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2003-02)
      In this paper, we show that when it is possible to use feedback in the specification of "motor programs," the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a ...
    • 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 ...
    • 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 ...
    • Observability and Policy Optimization for Mobile Robots 

      Egerstedt, Magnus B.; Hristu-Varsakelis, Dimotrios (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2002-12)
      This paper considers the use of abstract descriptions of motion control programs and of the environment, and explores some new problems of system theoretic interest that arise as a result. Wc study the problem of active ...
    • On The Structural Complexity of the Motion Description Language MDLe 

      Hristu-Varsakelis, Dimotrios; Egerstedt, Magnus B.; Krishnaprasad, P. S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2003-12)
      As modern control theory attempts to elucidate the complexity of systems that combine differential equations and event-driven logic, it must overcome challenges having to do with limited expressive power as well as ...
    • Optimal Motion Primitives for Multi-UAV Convoy Protection 

      Rahmani, Amir R.; Ding, Xu Chu; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      In this paper we study the problem of controlling a number of Unmanned Aerial Vehicles (UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled as Dubins vehicles flying at a constant ...
    • Optimal Timing Control of Interconnected, Switched Systems with Applications to Robotic Marionettes 

      Martin, Patrick; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-05)
      We present an optimal timing control formulation of the problem of controlling autonomous puppets. In particular, by appropriately timing the different movements, entire plays can be performed. Such plays are produced ...
    • Reactive Mobile Manipulation Using Dynamic Trajectory Tracking 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-04)
      A solution to the trajectory tracking problem for mobile manipulators is proposed, that allows for the base to be influenced by a reactive, obstacle avoidance behavior. Given a trajectory for the gripper to follow, a ...