76 citations · 308 across the 72 of their papers we have counts for
10 papers · 1 filter
Probabilistic Motion Planning under Temporal Tasks and Soft Constraints
Meng Guo, Michael M. Zavlanos
This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a {finite-memory} control policy, such that a high-level task specifi…
Sampling-Based Optimal Control Synthesis for Multi-Robot Systems under Global Temporal Tasks
Yiannis Kantaros, Michael M. Zavlanos
This paper proposes a new optimal control synthesis algorithm for multi-robot systems under global temporal logic tasks. Existing planning approaches under global temporal goals re…
Multi-Robot Data Gathering Under Buffer Constraints and Intermittent Communication
Meng Guo, Michael M. Zavlanos
We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabili…
Controlling a Robotic Stereo Camera Under Image Quantization Noise
Charles Freundlich, Yan Zhang, Alex Zihao Zhu +2
In this paper, we address the problem of controlling a mobile stereo camera under image quantization noise. Assuming that a pair of images of a set of targets is available, the cam…
Distributed Hierarchical Control for State Estimation With Robotic Sensor Networks
Charles Freundlich, Yan Zhang, Michael M. Zavlanos
This paper addresses active state estimation with a team of robotic sensors. The states to be estimated are represented by spatially distributed, uncorrelated, stationary vectors.…
Model-Based Active Source Identification in Complex Environments
Reza Khodayi-mehr, Wilkins Aquino, Michael M. Zavlanos
We consider the problem of Active Source Identification (ASI) in steady-state Advection-Diffusion (AD) transport systems. Unlike existing bio-inspired heuristic methods, we propose…
Distributed Active State Estimation with User-Specified Accuracy
Charles Freundlich, Soomin Lee, Michael M. Zavlanos
In this paper, we address the problem of controlling a network of mobile sensors so that a set of hidden states are estimated up to a user-specified accuracy. The sensors take meas…
Temporal Logic Task Planning and Intermittent Connectivity Control of Mobile Robot Networks
Yiannis Kantaros, Meng Guo, Michael M. Zavlanos
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captur…
On the Sublinear Regret of Distributed Primal-Dual Algorithms for Online Constrained Optimization
Soomin Lee, Michael M. Zavlanos
This paper introduces consensus-based primal-dual methods for distributed online optimization where the time-varying system objective function is given as the sum…
Complexity Certification of a Distributed Augmented Lagrangian Method
Soomin Lee, Nikolaos Chatzipanagiotis, Michael M. Zavlanos
In this paper we present complexity certification results for a distributed Augmented Lagrangian (AL) algorithm used to solve convex optimization problems involving globally couple…