Person:
Coogan, Samuel

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    Safe Autonomy from Run-Time Assurance
    (Georgia Institute of Technology, 2022-08-24) Coogan, Samuel
    IRIM hosts each semester a symposium to feature presentations from faculty and presentations of research that has been funded by our IRIM seed grant program in the last year. The symposium is a chance for faculty to meet new PhD students on campus, as well as a chance to get a better idea of what IRIM colleagues are up to these days. The goal of the symposium is to spark new ideas, new collaborations, and even new friends!
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    Safe Autonomy from Run-Time Assurance
    (Georgia Institute of Technology, 2021-08-25) Coogan, Samuel
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    Career Options in Robotics: Academia vs Industry
    (Georgia Institute of Technology, 2021-02-17) Collins, Thomas R. ; Coogan, Samuel ; Dellaert, Frank ; Mazumdar, Anirban ; Parikh, Anup ; Young, Aaron
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    Scaling the Size of a Multiagent Formation via Distributed Feedback
    (Georgia Institute of Technology, 2011-12) Coogan, Samuel ; Arcak, Murat ; Egerstedt, Magnus B.
    We consider a multiagent coordination problem where the objective is to steer a group of agents into a formation that translates along a predefined trajectory velocity. Unlike previous control strategies that require a static desired formation or set of desired formations, we introduce a strategy in which one agent assigns a scale for the formation and the remaining agents adjust to the new scale. Thus, the formation can dynamically adapt to changes in the environment and in group objectives or respond to perceived threats. We introduce two strategies: one that requires agents to communicate estimates of the desired formation scale along edges of a communication network and one that only requires relative position sensing among agents. We show that the former strategy guarantees stability for any desired connected formation. For the latter strategy, we present a geometric constraint which can be used with the small gain theorem.
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    Size Switching in Multi-agent Formation Control
    (Georgia Institute of Technology, 2010-05-12) Coogan, Samuel
    Formation control among a team of mobile robots is a common problem considered in multi-agent research, yet there are still formation control applications in which no control technique exists. In particular, motion planning of a team of mobile robots in formation poses unique challenges, including avoiding obstacles and maintaining formation throughout the motion trajectory. This research presents a method that requires the robots to maintain formation shape but allows size scaling to accommodate narrow passages or obstacles. In addition, the method only requires sensing of position and speed among agents and does not require interagent communication, an important feature for certain applications. Each robot uses a continuous scaling factor to determine the appropriate distance to neighboring robots. By measuring the relative position and speed of the other robots, each robot can determine the scaling factor used by its neighbors. Using this information, each robot then adjusts its own scaling factor so that the team quickly agrees on one of a discrete number of formation scales. In this way, the formation can shrink when the path is narrow, or expand around obstacles if necessary. The control method is derived analytically and shown to work in simulations.