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Egerstedt, Magnus B.

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Now showing 1 - 7 of 7
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    Pancakes: A Software Framework for Distributed Robot and Sensor Network Applications
    (Georgia Institute of Technology, 2013) Martin, Patrick ; de la Croix, Jean-Pierre ; Egerstedt, Magnus B.
    The development of control applications for multi-agent robot and sensor networks is complicated by the heterogeneous nature of the systems involved, as well as their physical capabilities (or limitations).We propose a software framework that unifies these networked systems, thus facilitating the development of multiagent control across multiple platforms and application domains. This framework addresses the need for these systems to dynamically adjust their actuating, sensing, and networking capabilities based on physical constraints, such as power levels.Furthermore, it allows for sensing and control algorithms to migrate to different platforms, which gives multi-agent control application designers the ability to adjust sensing and control as the network evolves. This paper describes the design and implementation of our software system and demonstrates its successful application on robots and sensor nodes, which dynamically modify their operational components.
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    Graph Process Specifications for Hybrid Networked Systems
    (Georgia Institute of Technology, 2012-12) Twu, Philip Y. ; Martin, Patrick ; Egerstedt, Magnus B.
    Many large-scale multi-agent missions consist of a sequence of subtasks, each of which can be accomplished separately by having agents execute appropriate decentralized controllers. However, many decentralized controllers have network topological prerequisites that must be satisfied in order to achieve the desired effect on a system. Therefore, one cannot always hope to accomplish the original mission by having agents naively switch through executing the controllers for each subtask. This paper extends the Graph Process Specification (GPS) framework, which was presented in previous work as a way to script decentralized control sequences for agents, while ensuring that network topological requirements are satisfied when each controller in the sequence is executed. Atoms, the fundamental building blocks in GPS, each explicitly state a network topological transition. Moreover, they specify the means to make that transition occur by providing a multi-agent controller, as well as a way to locally detect the transition. Scripting a control sequence in GPS therefore reduces to selecting a sequence of atoms from a library to satisfy network topological requirements, and specifying interrupt conditions for switching. As an example of how to construct an atom library, the optimal decentralization algorithm is used to generate atoms for agents to track desired multi-agent motions with when the network topology is static. The paper concludes with a simulation of agents performing a drumline-inspired dance using decentralized controllers generated by optimal decentralization and scripted using GPS.
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    Hybrid Systems Tools for Compiling Controllers for Cyber-Physical Systems
    (Georgia Institute of Technology, 2011-09-15) Martin, Patrick ; Egerstedt, Magnus B.
    In this paper, we consider the problem of going from high-level specifications of complex control tasks for cyber-physical systems to their actual implementation and execution on physical devices. This transition between abstraction levels inevitably results in a specification-to-execution gap, and we discuss two sources for this gap; namely model based and constraint based. For both of these two types of sources, we show how hybrid control techniques provide the tools needed to compile high-level control programs in such a way that the specification-to-execution gap is removed. The solutions involve introducing new control modes into nominal strings of control modes as well as adjusting the control modes themselves.
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    Constructing and Implementing Motion Programs for Robotic Marionettes
    (Georgia Institute of Technology, 2011-04) Martin, Patrick ; Johnson, Elliot ; Murphey, Todd D. ; Egerstedt, Magnus B.
    This technical note investigates how to produce control programs for complex systems in a systematic manner. In particular, we present an abstraction-based approach to the specification and optimization of motion programs for controlling robot marionettes. The resulting programs are based on the concatenation of motion primitives and are further improved upon using recent results in optimal switch-time control. Simulations as well as experimental results illustrate the operation of the proposed method.
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    Timing Control of Switched Systems with Applications to Robotic Marionettes
    (Georgia Institute of Technology, 2010-05) Martin, Patrick ; Egerstedt, Magnus B.
    We present an optimal timing control formulation for the problem of controlling autonomous puppets. In particular, by appropriately timing the different movements, entire plays can be performed. Such plays are produced by concatenating sequences of motion primitives and a compiler optimizes these sequences, using recent results in optimal switch-time control. Additionally, we apply saddle-point techniques to approach the problem of timing constraints among interconnected puppets. Experimental results illustrate the operation of the proposed methods.
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    MDLn: A Motion Description Language for Networked Systems
    (Georgia Institute of Technology, 2008-12) Martin, Patrick ; de la Croix, Jean-Pierre ; Egerstedt, Magnus B.
    In this paper we extend the definition of a Motion Description Language (MDL) to networked systems. This new construction (MDLn) supports inter-agent specification rules as well as desired network topologies, enabling us to specify high-level control programs for group interactions. In particular, MDLn-strings specify multi-modal executions of the system through a concatenation of modes. Each mode in the MDLn-string is a triple, specifying a control law, interrupt conditions, and desired network dependencies. In addition to proposing MDLn as a specification language for networked systems, we also give an architecture in which MDLn strings can be effectively parsed and executed in multi-robot applications.
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    Motion Description Language-Based Topological Maps for Robot Navigation
    (Georgia Institute of Technology, 2008) Martin, Patrick ; Egerstedt, Magnus B.
    Robot navigation over large areas inevitably has to rely on maps of the environment. The standard manner in which such maps are defined is through geometry, e.g. through traversability grid maps or through a division of the environment into free-space and obstacle-space. In this paper, we combine certain aspects of the geometric maps, through the notion of distinctive places, with a topological description of how these places are related. What is novel is the idea that the adjacency relation is defined by the existence of a control law that drives the robot between topologically connected places. Moreover, these maps can be automatically constructed based on the premise that the nodes correspond to places associated with a heightened control activity.