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  • Controllability of Prosumer-Based Networks in the Presence of Communication Failures 

    Ramachandran, Thiagarajan; Nazari, Masoud; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
    Typically, interconnected dynamical systems rely on communication in order to coordinate and compute appropriate control actions. Loss of communication links can exclude key decision makers from providing input and ...
  • 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 ...
  • Analyzing Human-Swarm Interactions Using Control Lyapunov Functions and Optimal Control. 

    de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyAmerican Institute of Mathematical Sciences, 2015-09)
    A number of different interaction modalities have been proposed for human engagement with networked systems. In this paper, we establish formal guarantees for whether or not a given such human-swarm interaction (HSI) ...
  • 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 ...
  • Multimodal Execution Monitoring for Anomaly Detection During Robot Manipulation 

    Park, Daehyung; Erickson, Zackory; Bhattacharjee, Tapomayukh; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
    Online detection of anomalous execution can be valuable for robot manipulation, enabling robots to operate more safely, determine when a behavior is inappropriate, and otherwise exhibit more common sense. By using ...
  • Towards Assistive Feeding with a General-Purpose Mobile Manipulator 

    Park, Daehyung; Kim, You Keun; Erickson, Zackory; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
    General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of being too difficult to use. We present a ...
  • From Global, Finite-Time, Linear Computations to Local, Edge-Based Interaction Rules 

    Costello, Zak; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-08)
    A network of locally interacting agents can be thought of as performing a distributed computation. But not all computations can be faithfully distributed. This paper investigates which global, linear transformations can ...
  • Overcoming Communication Delays in Distributed Frequency Regulation 

    Ramachandran, Thiagarajan; Nazari, Masoud H.; Grijalva, Santiago; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-07)
    This paper proposes a general framework for determining the effect of communication delays on the convergence of certain distributed frequency regulation (DFR) protocols for prosumer-based energy systems, where prosumers ...
  • Spatio-Temporal Multi-Robot Routing 

    Chopra, Smriti; Egerstedt, Magnus B. (Georgia Institute of Technology, 2015-10)
    In this paper, we consider the problem of routing multiple robots to service spatially distributed requests at specified time instants. We show that such a routing problem can be formulated as a pure assignment problem. ...
  • Optimal Control of Autonomous Switched-Mode Systems: Gradient-Descent Algorithms with Armijo Step Sizes 

    Wardi, Yorai; Egerstedt, Magnus B.; Hale, M. (Georgia Institute of Technology, 2015-12)
    This paper concerns optimal mode-scheduling in autonomous switched-mode hybrid dynamical systems, where the objective is to minimize a cost-performance functional defined on the state trajectory as a function of the schedule ...
  • Safety Barrier Certificates for Heterogeneous Multi-Robot Systems 

    Wang, Li; Ames, Aaron; Egerstedt, Magnus B. (Georgia Institute of Technology, 2016-07)
    paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of ...
  • Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control 

    Zhao, Huihua; Horn, Jonathan; Reher, Jacob; Paredes, Victor; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-03)
    Lower-limb prostheses provide a prime example of cyber-physical systems (CPSs) requiring the synergistic development of sensing, algorithms and controllers. With a view towards better understanding CPSs of this form, this ...
  • Correct-By-Construction Adaptive Cruise Control: Two Approaches 

    Nilsson, Petter; Hussien, Omar; Balkan, Ayca; Chen, Yuxiao; Ames, Aaron A. D.; Grizzle, Jessy; Ozay, Necmiye; Peng, Huei; Tabuada, Paulo (Georgia Institute of Technology, 2016-07)
    Motivated by the challenge of developing control software provably meeting specifications for real world problems, this paper applies formal methods to adaptive cruise control (ACC). Starting from a Linear Temporal Logic ...
  • Multi-Contact Bipedal Robotic Locomotion 

    Zhao, Huihua; Herei, Ayonga; Ma, Wen-loong; Ames, Aaron D. (Georgia Institute of TechnologyCambridge University Press, 2015)
    This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by ...
  • Towards Real-Time Parameter Optimization for Feasible Nonlinear Control with Applications to Robot Locomotion 

    Powell, Matthew J.; Ames, Aaron D. (Georgia Institute of Technology, 2016-07)
    This paper considers the application of classical control methods, designed for unconstrained nonlinear systems, to systems with nontrivial input constraints. As shown throughout the literature, unconstrained classical ...
  • Unification of Locomotion Pattern Generation and Control Lyapunov Function-Based Quadratic Programs 

    Chao, Kenneth Y.; Powell, Matthew J.; Ames, Aaron D.; Hur, Pilwon (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-07)
    This paper presents a novel method of combining real-time walking pattern generation and constrained nonlinear control to achieve robotic walking under Zero-Moment Point (ZMP) and torque constraints. The proposed method ...
  • Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion 

    Kolathaya, Shishir; Hereid, Ayonga; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-07)
    Implementing state-based parameterized periodic trajectories on complex robotic systems, e.g., humanoid robots, can lead to instability due to sensor noise exacerbated by dynamic movements. As a means of understanding ...
  • First Steps Toward Translating Robotic Walking To Prostheses: A Nonlinear Optimization Based Control Approach 

    Zhao, Huihua; Horn, Jonathan; Reher, Jacob; Paredes, Victor; Ames, Aaron D. (Georgia Institute of TechnologySpringer, 2016)
    This paper presents the first steps toward successfully translating nonlinear real-time optimization based controllers from bipedal walking robots to a self-contained powered transfemoral prosthesis: AMPRO, with the ...
  • The Middle Child Problem: Revisiting Parametric Min-cut and Seeds for Object Proposals 

    Humayun, Ahmad; Li, Fuxin; Rehg, James M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
    Object proposals have recently fueled the progress in detection performance. These proposals aim to provide category-agnostic localizations for all objects in an image. One way to generate proposals is to perform parametric ...
  • Work those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion 

    Hubicki, Christian M.; Hereid, Ayonga; Grey, Michael X.; Thomaz, Andrea L.; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-05)
    Humanoid robots are designed with dozens of actuated joints to suit a variety of tasks, but walking controllers rarely make the best use of all of this freedom. We present a framework for maximizing the use of the full ...

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