91 citations · 524 across the 63 of their papers we have counts for
9 papers · 1 filter
Convergence Rate Estimates for Consensus over Random Graphs
Matthew T. Hale, Magnus Egerstedt
Multi-agent coordination algorithms with randomized interactions have seen use in a variety of settings in the multi-agent systems literature. In some cases, these algorithms can b…
The Robotarium: A remotely accessible swarm robotics research testbed
Daniel Pickem, Paul Glotfelter, Li Wang +4
This paper describes the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral a…
Hamiltonian-based Algorithm for Relaxed Optimal Control
Yorai Wardi, Magnus Egerstedt, Muhammad Umer Qureshi
This paper concerns a first-order algorithmic technique for a class of optimal control problems defined on switched-mode hybrid systems. The salient feature of the algorithm is tha…
Safety Barrier Certificates for Heterogeneous Multi-Robot Systems
Li Wang, Aaron Ames, Magnus Egerstedt
This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety.…
Multi-objective Compositions for Collision-Free Connectivity Maintenance in Teams of Mobile Robots
Li Wang, Aaron D. Ames, Magnus Egerstedt
Compositional barrier functions are proposed in this paper to systematically compose multiple objectives for teams of mobile robots. The objectives are first encoded as barrier fun…
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…
Asynchronous Multi-Agent Primal-Dual Optimization
Matthew T. Hale, Angelia Nedich, Magnus Egerstedt
We present a framework for asynchronously solving convex optimization problems over networks of agents which are augmented by the presence of a centralized cloud computer. This fra…
Safe, Remote-Access Swarm Robotics Research on the Robotarium
Daniel Pickem, Li Wang, Paul Glotfelter +5
This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds const…
Hamiltonian-Based Algorithm for Optimal Control
M. T. Hale, Y. Wardi, H. Jaleel +1
This paper proposes an algorithmic technique for a class of optimal control problems where it is easy to compute a pointwise minimizer of the Hamiltonian associated with every appl…