Collections in this community

Recent Submissions

  • 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 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 ...
  • The Degree of Nonholonomy in Distributed Computations 

    Costello, Zak; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
    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 discusses which global linear transformations can be ...
  • Decentralized Formation of Random Regular Graphs or Robust Multi-Agent Networks 

    Yazıcıoğlu, A. Yasin; Egerstedt, Magnus B.; Shamma, Jeff S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
    Multi-agent networks are often modeled via interaction graphs, where the nodes represent the agents and the edges denote direct interactions between the corresponding agents. Interaction graphs have significant impact on ...
  • Optimal Control of Switched Dynamical Systems Under Dwell Time Constraints 

    Ali, Usman; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
    This paper addresses the problem of optimally scheduling the mode sequence and mode duration for switched dynamical systems under dwell time constraints that describe how long a system has to stay in a mode before they ...
  • Cloud-Based Optimization: A Quasi-Decentralized Approach to Multi-Agent Coordination 

    Hale, M.T.; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-12)
    New architectures and algorithms are needed to reflect the mixture of local and global information that is available as multi-agent systems connect over the cloud. We present a novel architecture for multi-agent coordination ...
  • Continuous-time Proportional-Integral Distributed Optimization for Networked Systems 

    Droge, Greg; Kawashima, Hiroaki; Egerstedt, Magnus (Georgia Institute of TechnologyTaylor & Francis Group, 2014-07)
    In this paper we explore the relationship between dual decomposition and the consensus-based method for distributed optimization. The relationship is developed by examining the similarities between the two approaches and ...
  • Characterizing Heterogeneity in Cooperative Networks From a Resource Distribution View-Point 

    Abbas, Waseem; Egerstedt, Magnus (Georgia Institute of TechnologyInternational Press, 2014-11)
    A network of agents in which agents with a diverse set of resources or capabilities interact and coordinate with each other to accomplish various tasks constitutes a heterogeneous cooperative network. In this paper, we ...
  • Low-Dimensional Learning for Complex Robots 

    O’Flaherty, Rowland; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-01)
    This paper presents an algorithm for learning the switching policy and the boundaries conditions between primitive controllers that maximize the translational movements of a complex locomoting system. The algorithm ...
  • 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, ...
  • 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 ...
  • Pair-Wise Agreement Using Set-Valued Sensors 

    Ramachandran, Thiagarajan; Egerstedt, Magnus B. (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC), 2013-09)
    In this paper, we study the effect that set-valued sensors have on coordination algorithms. In particular, we investigate the two-agent rendezvous problem with severely limited sensing. We characterize conditions under ...
  • Optimal Trajectory Generation for Next Generation Flight Management Systems 

    Diaz-Mercado, Yancy; Lee, Sung G.; Egerstedt, Magnus B.; Young, Shih-Yih (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
    Next generation flight management systems require the compliance of temporal and spatial constraints on navigation performance. The problem of generating fuel-efficient trajectories for aircrafts that comply with the ...
  • A Separation Signal for Heterogeneous Networks 

    de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-10)
    Organizing a large-scale, heterogeneous network of agents into clusters based on the agents’ class is a useful preprocessing step for cooperative tasks, where agents with the same capabilities need to be in the same ...

View more