5 papers · 1 filter
A Long-Duration Autonomy Approach to Connected and Automated Vehicles
Logan E. Beaver
In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we fo…
Model Predictive Control for Magnetically-Actuated Cellbots
Mehdi Kermanshah, Logan E. Beaver, Max Sokolich +5
This paper presents a control framework for magnetically actuated cellbots, which combines Model Predictive Control (MPC) with Gaussian Processes (GPs) as a disturbance estimator f…
Energy-Optimal Multi-Agent Navigation as a Strategic-Form Game
Logan Beaver
This extended abstracts presents a method to generate energy-optimal trajectories for multi-agent systems as a strategic-form game. Using recent results in optimal control, we demo…
Multi-Robot Task Allocation using Global Games with Negative Feedback: The Colony Maintenance Problem
Logan E. Beaver
In this article we address the multi-robot task allocation problem, where robots must cooperatively assign themselves to accomplish a set of tasks. We consider the colony maintenan…
Optimal Control Barrier Functions: Maximizing the Action Space Subject to Control Bounds
Logan E. Beaver
This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effo…