91 citations · 524 across the 63 of their papers we have counts for
19 papers · 1 filter
Tracking Control by the Newton-Raphson Method with Output Prediction and Controller Speedup
Yorai Wardi, Carla Seatzu, Jorge Cortes +3
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (…
Path Planning in Unknown Environments Using Optimal Transport Theory
Haoyan Zhai, Magnus Egerstedt, Haomin Zhou
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity…
A Reinforcement Learning Framework for Sequencing Multi-Robot Behaviors
Pietro Pierpaoli, Thinh T. Doan, Justin Romberg +1
Given a list of behaviors and associated parameterized controllers for solving different individual tasks, we study the problem of selecting an optimal sequence of coordinated beha…
Robust Barrier Functions for a Fully Autonomous, Remotely Accessible Swarm-Robotics Testbed
Yousef Emam, Paul Glotfelter, Magnus Egerstedt
The Robotarium, a remotely accessible swarm-robotics testbed, has provided free, open access to robotics and controls research for hundreds of users in thousands of experiments. Th…
Inferring and Learning Multi-Robot Policies by Observing an Expert
Pietro Pierpaoli, Harish Ravichandar, Nicholas Waytowich +3
We present a technique for learning how to solve a multi-robot mission that requires interaction with an external environment by observing an expert system executing the same missi…
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.…
A Sequential Composition Framework for Coordinating Multi-Robot Behaviors
Pietro Pierpaoli, Anqi Li, Mohit Srinivasan +3
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one…
Composition of Safety Constraints For Fixed-Wing Collision Avoidance Amidst Limited Communications
Eric Squires, Pietro Pierpaoli, Rohit Konda +2
This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier funct…
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…
Collective motion planning for a group of robots using intermittent diffusion
Christina Frederick, Magnus Egerstedt, Haomin Zhou
In this work we establish a simple yet effective strategy, based on optimal transport theory, for enabling a group of robots to accomplish complex tasks, such as shape formation an…
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…
A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot
Gennaro Notomista, Siddharth Mayya, Anirban Mazumdar +2
In this paper we present a study of a specific class of vibration-driven robots: the brushbots. In a bottom-up fashion, we start by deriving dynamic models of the brushes and we di…
Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase Separation Theory
Siddharth Mayya, Gennaro Notomista, Dylan Shell +2
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange.…
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…
From Motions to Emotions: Can the Fundamental Emotions be Expressed in a Robot Swarm?
María Santos, Magnus Egerstedt
This paper explores the expressive capabilities of a swarm of miniature mobile robots within the context of inter-robot interactions and their mapping to the so-called fundamental…
An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot Systems
Gennaro Notomista, Siddharth Mayya, Seth Hutchinson +1
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. M…
Persistification of Robotic Tasks
Gennaro Notomista, Magnus Egerstedt
In this paper we propose a control framework that enables robots to execute tasks persistently, i.e., over time horizons much longer than robots' battery life. This is achieved by…
Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies
Anqi Li, Mustafa Mukadam, Magnus Egerstedt +1
In many applications, multi-robot systems are required to achieve multiple objectives. For these multi-objective tasks, it is oftentimes hard to design a single control policy that…