Person:
Egerstedt, Magnus B.

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Start date: 2010 × End date: 2019 × Has files: No ×

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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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    Autonomous Driving in Urban Environments: Approaches, Lessons, and Challenges
    (Georgia Institute of Technology, 2010) Campbell, M. ; Egerstedt, Magnus B. ; How, J. P. ; Murray, R. M.
    The development of autonomous vehicles for urban driving has seen rapid progress in the past 30 years. This paper provides a summary of the current state of the art in autonomous driving in urban environments, based primarily on the experiences of the authors in the 2007 DARPA Urban Challenge (DUC). The paper briefly summarizes the approaches that different teams used in the DUC, with the goal of describing some of the challenges that the teams faced in driving in urban environments. The paper also highlights the long-term research challenges that must be overcome in order to enable autonomous driving and points to opportunities for new technologies to be applied in improving vehicle safety, exploiting intelligent road infrastructure and enabling robotic vehicles operating in human environments.