91 citations · 524 across the 63 of their papers we have counts for
23 papers · 1 filter
Quadratic Programming for Continuous Control of Safety-Critical Multi-Agent Systems Under Uncertainty
Si Wu, Tengfei Liu, Magnus Egerstedt +1
This paper studies the control problem for safety-critical multi-agent systems based on quadratic programming (QP). Each controlled agent is modeled as a cascade connection of an i…
Distributed Coverage Hole Prevention for Visual Environmental Monitoring with Quadcopters via Nonsmooth Control Barrier Functions
Riku Funada, María Santos, Ryuichi Maniwa +4
This paper proposes a distributed coverage control strategy for quadcopters equipped with downward-facing cameras that prevents the appearance of unmonitored areas in between the q…
Safe Reinforcement Learning Using Robust Control Barrier Functions
Yousef Emam, Gennaro Notomista, Paul Glotfelter +2
Reinforcement Learning (RL) has been shown to be effective in many scenarios. However, it typically requires the exploration of a sufficiently large number of state-action pairs, s…
Safety With Limited Range Sensing Constraints For Fixed Wing Aircraft
Eric Squires, Rohit Konda, Pietro Pierpaoli +2
In this paper we discuss how to use a barrier function that is subject to kinematic constraints and limited sensing in order to guarantee that fixed wing unmanned aerial vehicles (…
Neural Identification for Control
Priyabrata Saha, Magnus Egerstedt, Saibal Mukhopadhyay
We present a new method for learning control law that stabilizes an unknown nonlinear dynamical system at an equilibrium point. We formulate a system identification task in a self-…
Intersection-Traffic Control of Autonomous Vehicles using Newton-Raphson Flows and Barrier Functions
Shashwat Shivam, Yorai Wardi, Magnus Egerstedt +2
This paper concerns an application of a recently-developed nonlinear tracking technique to trajectory control of autonomous vehicles at traffic intersections. The technique uses a…
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach
Tatsuya Ibuki, Sean Wilson, Aaron D. Ames +1
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained…
Constraint Learning for Control Tasks with Limited Duration Barrier Functions
Motoya Ohnishi, Gennaro Notomista, Masashi Sugiyama +1
When deploying autonomous agents in unstructured environments over sustained periods of time, adaptability and robustness oftentimes outweigh optimality as a primary consideration.…
Herdability of Linear Systems Based on Sign Patterns and Graph Structures
Sebastian F Ruf, Magnus Egerstedt, Jeff S. Shamma
We consider the notion of herdability, a set-based reachability condition, which asks whether the state of a system can be controlled to be element-wise larger than a non-negative…
Passivity-Based Decentralized Control of Multi-Robot Systems With Delays Using Control Barrier Functions
Gennaro Notomista, Xiaoyi Cai, Junya Yamauchi +1
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control…
Control Barrier Functions: Theory and Applications
Aaron D. Ames, Samuel Coogan, Magnus Egerstedt +3
This paper provides an introduction and overview of recent work on control barrier functions and their use to verify and enforce safety properties in the context of (optimization b…
Stable, Concurrent Controller Composition for Multi-Objective Robotic Tasks
Anqi Li, Ching-An Cheng, Byron Boots +1
Robotic systems often need to consider multiple tasks concurrently. This challenge calls for controller synthesis algorithms that fulfill multiple control specifications while main…
Tracking Control by the Newton-Raphson Flow: Applications to Autonomous Vehicles
Shashwat Shivam, Ian Buckley, Yorai Wardi +2
This paper concerns applications of a recently-developed output-tracking technique to trajectory control of autonomous vehicles. The technique is based on three principles: Newton-…
Control of Multi-Agent Systems with Finite Time Control Barrier Certificates and Temporal Logic
Mohit Srinivasan, Samuel Coogan, Magnus Egerstedt
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-a…
Fault Tolerant Control for Networked Mobile Robots
Pietro Pierpaoli, Dominique Sauter, Magnus Egerstedt
Teams of networked autonomous agents have been used in a number of applications, such as mobile sensor networks and intelligent transportation systems. However, in such systems, th…
A Distributed Version of the Hungarian Method for Multi-Robot Assignment
Smriti Chopra, Giuseppe Notarstefano, Matthew Rice +1
In this paper, we propose a distributed version of the Hungarian Method to solve the well known assignment problem. In the context of multi-robot applications, all robots cooperati…
Herding Positive, Complex Networks
Sebastian F. Ruf, Magnus Egersted, Jeff S. Shamma
The problem of controlling complex networks is of interest to disciplines ranging from biology to swarm robotics. However, controllability can be too strict a condition, failing to…
Herdable Systems Over Signed, Directed Graphs
Sebastian F. Ruf, Magnus Egerstedt, Jeff S. Shamma
This paper considers the notion of herdability, a set-based reachability condition, which asks whether the state of a system can be controlled to be element-wise larger than a non-…
Graph Distances and Controllability of Networks
A. Yasin Yazicioglu, Waseem Abbas, Magnus Egerstedt
In this technical note, we study the controllability of diffusively coupled networks from a graph theoretic perspective. We consider leader-follower networks, where the external co…
Communication-Free Distributed Coverage for Networked Systems
A. Yasin Yazicioglu, Magnus Egerstedt, Jeff S. Shamma
In this paper, we present a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network i…
Continuous-time Proportional-Integral Distributed Optimization for Networked Systems
Greg Droge, Hiroaki Kawashima, Magnus Egerstedt
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 sim…
A Tight Lower Bound on the Controllability of Networks with Multiple Leaders
Ahmet Yasin Yazicioglu, Waseem Abbas, Magnus Egerstedt
In this paper we study the controllability of networked systems with static network topologies using tools from algebraic graph theory. Each agent in the network acts in a decentra…
Algorithm for Optimal Mode Scheduling in Switched Systems
Yorai Wardi, Magnus Egerstedt
This paper considers the problem of computing the schedule of modes in a switched dynamical system, that minimizes a cost functional defined on the trajectory of the system's conti…