91 citations · 524 across the 63 of their papers we have counts for
12 papers · 1 filter
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…
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-…
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…
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-…
Permissive Barrier Certificates for Safe Stabilization Using Sum-of-squares
Li Wang, Dongkun Han, Magnus Egerstedt
Motivated by the need to simultaneously guarantee safety and stability of safety-critical dynamical systems, we construct permissive barrier certificates in this paper that explici…
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…
Barrier-Certified Adaptive Reinforcement Learning with Applications to Brushbot Navigation
Motoya Ohnishi, Li Wang, Gennaro Notomista +1
This paper presents a safe learning framework that employs an adaptive model learning algorithm together with barrier certificates for systems with possibly nonstationary agent dyn…