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Egerstedt, Magnus B.

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Now showing 1 - 7 of 7
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    Behavior Based Robotics Using Regularized Hybrid Automata
    (Georgia Institute of Technology, 1999-12) Egerstedt, Magnus B. ; Johansson, K. ; Lygeros, J. ; Sastry, S.
    Investigates how to model a behavior based control system for mobile robots as a hybrid automaton. We show that an automaton, with the nodes corresponding to distinct behaviors, may exhibit an infinite number of discrete transitions in finite time (a so called Zeno hybrid automaton). This can be dealt with by a regularization procedure, involving adding extra nodes to the automaton which gives a system with similar performance as a fused behavior based system. The performance aspect is also verified experimentally.
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    A Hybrid Control Architecture for Mobile Manipulation
    (Georgia Institute of Technology, 1999-10) Petersson, L. ; Egerstedt, Magnus B. ; Christensen, Henrik I.
    We present a scheme for mobile manipulation by introducing a mobile manipulation control architecture (MMCA). This architecture is motivated by a need for a systematic control structure for robotic manipulation within a behavior based framework. The control structure enables integration of the manipulator into a behavior based control structure for the platform. Furthermore, our suggested MMCA is designed in such a way that it supports design and performance analysis from both a manipulator dynamics and a hybrid automata perspective.
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    An Integrated Algorithm for Path Planning and Flight Controller Scheduling for Autonomous Helicopters
    (Georgia Institute of Technology, 1999-08) Egerstedt, Magnus B. ; Koo, T. J. ; Hoffmann, F. ; Sastry, S.
    In this article we investigate how to generate flight trajectories for an autonomous helicopter. Given a set of nominal waypoints we generate trajectories that interpolate close to these points. This path generation is done for two different cases, corresponding to two controllers that either govern position or velocity of the helicopter. Based on a given cost functional, the planner selects the optimal one among these multiple paths. This approach thus provides a systematic way for generating not only the flight path, but also a suitable switching strategy, i.e. when to switch between the different controllers.
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    A Hybrid Control Approach to Action Coordination for Mobile Robots
    (Georgia Institute of Technology, 1999-07) Egerstedt, Magnus B. ; Hu, Xiaoming ; Stotsky, A.
    In this paper, the problem of how to integrate different robotic actions, within a behavior-based framework, is investigated. The case we study is the obstacle negotiation problem, and our approach is based on planned on reference trajectories. These trajectories are chosen in such a way that the combination of a robust path-following behavior, designed in a model independent way, and a reactive obstacle-avoidance behavior would move the robot around an obstacle at a predefined safety distance. This is done while keeping the value of a cost functional low, defined for evaluating the performance of the robot. We exemplify and evaluate this approach on a Nomad 200 mobile robot platform.
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    Control of a Car-Like Robot Using a Virtual Vehicle Approach
    (Georgia Institute of Technology, 1999-07) Egerstedt, Magnus B. ; Hu, Xiaoming ; Stotsky, A.
    A solution to the problem of controlling a car-like nonholonomic robot is proposed using a "virtual" vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model, in which, for instance, the side slip angles are taken into account.
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    Path Planning and Flight Controller Scheduling for an Autonomous Helicopter
    (Georgia Institute of Technology, 1999-03) Egerstedt, Magnus B. ; Koo, T. J. ; Hoffmann, F. ; Sastry, S.
    In this article we investigate how to generate flight trajectories for an autonomous helicopter. The planning strategy that we propose reflects the controller architecture. It is reasonable to identify different flight modes such as take-off, cruise, turn and landing, which can be used to compose an entire flight path. Given a set of nominal waypoints we generate trajectories that interpolate close to these points. This path generation is done for two different cases, corresponding to two controllers that either govern position or velocity of the helicopter. Based on a given cost functional, the planner selects the optimal one among these multiple paths. This approach thus provide a systematic way for generating not only the flight path, but also a suitable switching strategy, i.e. when to switch between the different controllers.
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    Control of a Car-Like Robot Using a Virtual Vehicle Approach
    (Georgia Institute of Technology, 1998-12) Egerstedt, Magnus B. ; Hu, Xiaoming ; Stotsky, A.
    A solution to the problem of controlling a car-like nonholonomic robot is proposed using a “virtual” vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model in which the side slip angles are taken into account.