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  • 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 ...
  • Deformable-Medium Affordances for Interacting with Multi-Robot Systems 

    Diana, Matteo; de la Croix, Jean-Pierre; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-11)
    This paper addresses the issue of human-swarm interactions by proposing a new set of affordances that make a multi-robot system amenable to human control. In particular, we propose to use clay – a deformable medium – as ...
  • Energy-Efficient Data Collection in Heterogeneous Wireless Sensor and Actor Networks 

    Abbas, Waseem; Jaleel, Hassan; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-12)
    In this paper, we address the issue of activity scheduling of sensors in heterogeneous wireless sensor and actor networks (WSANs), thereby proposing an energy-efficient data collection scheme in such networks. In order ...
  • Multi-Robot Mixing Using Braids 

    Diaz-Mercado, Yancy; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-12)
    This paper presents a method for automatically achieving multi-robot mixing in the sense that the robots follow predefined paths in a somewhat loose sense while ensuring that their actual movements are rich enough. In ...
  • Decentralized Degree Regularization for Multi-Agent Networks 

    Yazıcıoğlu, A. Yasin; Egerstedt, Magnus B.; Shamma, Jeff S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-12)
    Networked multi-agent systems are widely modeled as graphs where the agents are represented as nodes and edges exist between the agents that interact directly. In this setting, the degree of a node is the number of edges ...
  • Style-based Abstractions for Human Motion Classification 

    LaViers, Amy; Egerstedt, Magnus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-04)
    This paper presents an approach to motion analysis for robotics in which a quantitative definition of "style of motion" is used to classify movements. In particular, we present a method for generating a "best match" ...
  • Shortest Paths Through 3-Dimensional Cluttered Environments 

    Lu, Jun; Diaz-Mercado, Yancy; Egerstedt, Magnus; Zhou, Haomin; Chow, Shui-Nee (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
    This paper investigates the problem of finding shortest paths through 3-dimensional cluttered environments. In particular, an algorithm is presented that determines the shortest path between two points in an environment ...
  • A Measure of Heterogeneity in Multi-Agent Systems 

    Twu, Philip; Mostofi, Yasamin; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
    Heterogeneous multi-agent systems have previously been studied and deployed to solve a number of different tasks. Despite this, we still lack a basic understanding of just what “heterogeneity” really is. For example, what ...
  • Minimizing Mobility and Communication Energy in Robotic Networks: an Optimal Control Approach 

    Jaleel, Hassan; Wardi, Yorai; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
    This paper concerns the problem of minimizing the sum of motion energy and communication energy in a network of mobile robots. The robotic network is charged with the task of transmitting sensor information from a given ...

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