112 citations · 449 across the 29 of their papers we have counts for
8 papers · 1 filter
Reachability-Aware Time Scaling for Path Tracking
Hossein Gholampour, Logan E. Beaver
This paper studies tracking of collision-free waypoint paths produced by an offline planner for a planar double-integrator system with bounded speed and acceleration. Because sampl…
Learning a Tracking Controller for Rolling bots
Logan E Beaver, Max Sokolich, Suhail Alsalehi +3
Micron-scale robots (bots) have recently shown great promise for emerging medical applications. Accurate controlling bots, while critical to their successful deployment, is c…
A Graph-Based Approach to Generate Energy-Optimal Robot Trajectories in Polygonal Environments
Logan E. Beaver, Roberto Tron, Christos G. Cassandras
As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate…
A Constraint-Driven Approach to Line Flocking: The V Formation as an Energy-Saving Strategy
Logan E. Beaver, Christopher Kroninger, Michael Dorothy +1
The study of robotic flocking has received significant attention in the past twenty years. In this article, we present a constraint-driven control algorithm that minimizes the ener…
A First-Order Approach to Model Simultaneous Control of Multiple Microrobots
Logan E. Beaver, Sambeeta Das, Andreas A. Malikopoulos
The control of swarm systems is relatively well understood for simple robotic platforms at the macro scale. However, there are still several unanswered questions about how similar…
Constraint-Driven Optimal Control of Multi-Agent Systems: A Highway Platooning Case Study
Logan E. Beaver, Andreas A. Malikopoulos
Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergen…
A Digital Smart City for Emerging Mobility Systems
Raymond M. Zayas, Logan E. Beaver, Behdad Chalaki +2
The increasing demand for emerging mobility systems with connected and automated vehicles has imposed the necessity for quality testing environments to support their development. I…
Optimal Control of Differentially Flat Systems is Surprisingly Easy
Logan E. Beaver, Andreas A. Malikopoulos
As we move to increasingly complex cyber-physical systems (CPS), new approaches are needed to plan efficient state trajectories in real-time. In this paper, we propose an approach…