91 citations · 132 across the 21 of their papers we have counts for
4 papers · 2 filters
Voluntary Retreat for Decentralized Interference Reduction in Robot Swarms
Siddharth Mayya, Pietro Pierpaoli, Magnus Egerstedt
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time…
Constraint-Driven Coordinated Control of Multi-Robot Systems
Gennaro Notomista, Magnus Egerstedt
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The…
Coverage Control for Wire-Traversing Robots
Gennaro Notomista, Magnus Egerstedt
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected…
A Parametric MPC Approach to Balancing the Cost of Abstraction for Differential-Drive Mobile Robots
Paul Glotfelter, Magnus Egerstedt
When designing control strategies for differential-drive mobile robots, one standard tool is the consideration of a point at a fixed distance along a line orthogonal to the wheel a…