Now showing items 1-20 of 1394

    • Temporal Heterogeneity and the Value of Slowness in Robotic Systems 

      Arkin, Ronald C.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2015-12)
      Robot teaming is a well-studied area, but little research to date has been conducted on the fundamental benefits of heterogeneous teams and virtually none on temporal heterogeneity, where timescales of the various platforms ...
    • Formal Performance Guarantees for Behavior-Based Localization Missions 

      Lyons, Damian M.; Arkin, Ronald C. (Georgia Institute of Technology, 2016-11)
      Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. In this ...
    • Optimization of Robot Configurations for Assistive Tasks 

      Kapusta, Ariel; Kemp, Charles C. (Georgia Institute of Technology, 2016)
      Robots can provide assistance with activities of daily living (ADLs) to humans with motor impairments. Specialized robots, such as desktop robotic feeding systems, have been successful for specific assistive tasks when ...
    • Autobed: Open Hardware for Accessible Web-based Control of an Electric Bed 

      Grice, Phillip M.; Chitalia, Yash; Rich, Megan; Clever, Henry M.; Kemp, Charles C. (Georgia Institute of Technology, 2016)
      Individuals with severe motor impairments often have difficulty operating the standard controls of electric beds and so require a caregiver to adjust their position for utility, comfort, or to prevent pressure ulcers. ...
    • Material Recognition from Heat Transfer given Varying Initial Conditions and Short-Duration Contact 

      Bhattacharjee, Tapomayukh; Wade, Joshua; Kemp, Charles C. (Georgia Institute of Technology, 2015)
      When making contact with an object, a robot can use a tactile sensor consisting of a heating element and a temperature sensor to recognize the object’s material based on conductive heat transfer from the tactile sensor ...
    • From Algorithms to Architectures in Cyber-Physical Networks 

      Egerstedt, Magnus B. (Georgia Institute of TechnologyTaylor & Francis, 2015-02)
    • Distributed Dynamic Density Coverage for Human-Swarm Interactions 

      Diaz-Mercado, Yancy; Lee, Sung G.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
      This paper presents two approaches to externally influence a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. ...
    • Team-Level Properties for Haptic Human-Swarm Interactions 

      Setter, Tina; Kawashima, Hiroaki; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
      This paper explores how haptic interfaces should be designed to enable effective human-swarm interactions. When a single operator is interacting with a team of mobile robots, there are certain properties of the team ...
    • Effects of Insufficient Time-Scale Separation in Cascaded, Networked Systems 

      Sakurama, Kazunori; Verriest, Erik I.; Egerstedt, Magnus B. (Georgia Institute of Technology, 2015-07)
      In this paper, we investigate the effect of insufficient time-scale separation between inner and the outer loops in a cascaded, networked system under multiple clients. Inspired by the AQM (inner loop) and TCP (outer loop) ...
    • A Control Lyapunov Function Approach to Human-Swarm Interactions 

      de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
      In this paper, we seek to establish formal guarantees for whether or not a given human-swarm interaction (HSI) is appropriate for achieving multi-robot tasks. Examples of such tasks include guiding a swarm of robots ...
    • Differentially Private Cloud-Based Multi-Agent Optimization with Constraints 

      Hale, M. T.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-07)
      We present an optimization framework that solves constrained multi-agent optimization problems while keeping each agent’s state differentially private. The agents in the network seek to optimize a local objective function ...
    • The GRITSBot in its Natural Habitat - A Multi-Robot Testbed 

      Pickem, Daniel; Lee, Myron; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-05)
      Current multi-agent robotic testbeds are prohibitively expensive or highly specialized and as such their use is limited to a small number of research laboratories. Given the high price tag, what is needed to scale ...
    • Altering UAV Flight Path by Threatening Collision 

      Pierpaoli, Pietro; Egerstedt, Magnus B.; Rahmani, Amir (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-09)
      The ongoing transformation of air traffic control towards decentralized decision making based on ADS-B information shared by neighboring traffic will allow all aircraft and UAS in particular, to automatically detect ...
    • Optimal Exploration in Unknown Environments 

      O’Flaherty, Rowland; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015)
      This paper presents an algorithm that optimally explores an unknown environment with regions of varying degrees of importance. The algorithm, termed Ergodic Environmental Exploration (E³), is a finite ...
    • 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 ...
    • Temporal Heterogeneity and the Value of Slowness in Robotic Systems 

      Arkin, Ronald C.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
      Robot teaming is a well-studied area, but little research to date has been conducted on the fundamental benefits of heterogeneous teams and virtually none on temporal heterogeneity, where timescales of the various ...
    • Cloud-Based Centralized/Decentralized Multi-Agent Optimization with Communication Delays 

      Hale, Matthew T.; Nedić, Angelia; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
      We present and analyze a hybrid computational architecture for performing multi-agent optimization. The optimization problems under consideration have convex objective and constraint functions with mild smoothness ...
    • Correct-by-Construction Control Synthesis for Multi-Robot Mixing 

      Diaz-Mercado, Yancy; Jones, Austin; Belta, Calin; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-12)
      This paper considers the problem of controlling a team of heterogeneous agents to conform to high- level interaction (coordination, sensing, and communication) missions. We consider interactions that can be specified via ...
    • Vision-Based Optimal Landing On a Moving Platform 

      Nakamura, Takuma; Haviland, Stephen; Bershadsky, Dmitry; Johnson, Eric N. (Georgia Institute of Technology, 2016-05)
      This paper describes a vision-based control architecture designed to enable autonomous landing on a moving platform. The landing trajectory is generated by using the receding-horizon differential dynamic programming (DDP), ...
    • Vision-Based Closed-Loop Tracking Using Micro Air Vehicles 

      Nakamura, Takuma; Haviland, Stephen; Bershadsky, Dmitry; NodeIn, Daniel Magree; Johnson, Eric N. (Georgia Institute of Technology, 2016)
      This paper describes the target detection and tracking architecture used by the Georgia Tech Aerial Robotics team for the American Helicopter Society (AHS) Micro Aerial Vehicle (MAV) challenge. The vision system described ...