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  • 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 M. 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 ...
  • 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 ...
  • 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 TechnologyElsevier, 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. ...

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