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Model Free Barrier Functions via Implicit Evading Maneuvers


Jul 27, 2021
Eric Squires, Rohit Konda, Samuel Coogan, Magnus Egerstedt


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A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems


May 12, 2021
Gennaro Notomista, Siddharth Mayya, Yousef Emam, Christopher Kroninger, Addison Bohannon, Seth Hutchinson, Magnus Egerstedt


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Data-Driven Robust Barrier Functions for Safe, Long-Term Operation


Apr 15, 2021
Yousef Emam, Paul Glotfelter, Sean Wilson, Gennaro Notomista, Magnus Egerstedt

* Submitted to IEEE Transactions on Robotics (T-RO) as a regular paper. arXiv admin note: text overlap with arXiv:1909.02966 

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Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions


Nov 10, 2020
Yousef Emam, Gennaro Notomista, Paul Glotfelter, Magnus Egerstedt

* Submitted to the 2021 IEEE International Conference on Robotics and Automation (ICRA) 

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Neural Identification for Control


Oct 20, 2020
Priyabrata Saha, Magnus Egerstedt, Saibal Mukhopadhyay

* 7 pages, 7 figures 

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Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration


Aug 04, 2020
Ragesh K. Ramachandran, Pietro Pierpaoli, Magnus Egerstedt, Gaurav S. Sukhatme

* 12 pages, 5 figures 

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Intersection-Traffic Control of Autonomous Vehicles using Newton-Raphson Flows and Barrier Functions


Apr 21, 2020
Shashwat Shivam, Yorai Wardi, Magnus Egerstedt, Aris Kanellopoulos, Kyriakos G. Vamvoudakis

* to be published in Proc.21st IFAC World Congress, Berlin, Germany, July 12-17,2020 

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Adaptive Task Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities


Mar 06, 2020
Yousef Emam, Siddharth Mayya, Gennaro Notomista, Addison Bohannon, Magnus Egerstedt

* Submitted and accepted for the 2020 IEEE International Conference on Robotics and Automation (ICRA) 

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Path Planning in Unknown Environments Using Optimal Transport Theory


Sep 25, 2019
Haoyan Zhai, Magnus Egerstedt, Haomin Zhou


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Inferring and Learning Multi-Robot Policies by Observing an Expert


Sep 17, 2019
Pietro Pierpaoli, Harish Ravichandar, Nicholas Waytowich, Anqi Li, Derrik Asher, Magnus Egerstedt

* 8 pages, 7 figures 

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A Reinforcement Learning Framework for Sequencing Multi-Robot Behaviors


Sep 13, 2019
Pietro Pierpaoli, Thinh T. Doan, Justin Romberg, Magnus Egerstedt

* 6 pages 

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Robust Barrier Functions for a Fully Autonomous, Remotely Accessible Swarm-Robotics Testbed


Sep 06, 2019
Yousef Emam, Paul Glotfelter, Magnus Egerstedt

* Submitted and accepted for the 58th IEEE Conference on Decision and Control (CDC) 

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A Sequential Composition Framework for Coordinating Multi-Robot Behaviors


Jul 17, 2019
Pietro Pierpaoli, Anqi Li, Mohit Srinivasan, Xiaoyi Cai, Samuel Coogan, Magnus Egerstedt

* 11 pages, 4 figures 

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Composition of Safety Constraints With Applications to Decentralized Fixed-Wing Collision Avoidance


Jun 10, 2019
Eric Squires, Pietro Pierpaoli, Rohit Konda, Sam Coogan, Magnus Egerstedt


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Stable, Concurrent Controller Composition for Multi-Objective Robotic Tasks


Mar 29, 2019
Anqi Li, Ching-An Cheng, Byron Boots, Magnus Egerstedt


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From Motions to Emotions: Can the Fundamental Emotions be Expressed in a Robot Swarm?


Mar 28, 2019
María Santos, Magnus Egerstedt

* 11 pages, 14 figures. Submitted for possible publication to International Journal of Social Robotics 

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An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot Systems


Mar 20, 2019
Gennaro Notomista, Siddharth Mayya, Seth Hutchinson, Magnus Egerstedt


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Persistification of Robotic Tasks


Mar 14, 2019
Gennaro Notomista, Magnus Egerstedt


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Voluntary Retreat for Decentralized Interference Reduction in Robot Swarms


Mar 10, 2019
Siddharth Mayya, Pietro Pierpaoli, Magnus Egerstedt

* 7 pages, 6 figures. Accepted for publication, and will be presented at the International Conference on Robotics and Automation (ICRA) 2019, Montreal, Canada 

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A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot


Mar 02, 2019
Gennaro Notomista, Siddharth Mayya, Anirban Mazumdar, Seth Hutchinson, Magnus Egerstedt


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Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase Separation Theory


Mar 02, 2019
Siddharth Mayya, Gennaro Notomista, Dylan Shell, Seth Hutchinson, Magnus Egerstedt

* 8 pages, submitted for possible publication to IEEE 

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Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies


Feb 16, 2019
Anqi Li, Mustafa Mukadam, Magnus Egerstedt, Byron Boots


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Constraint-Driven Coordinated Control of Multi-Robot Systems


Nov 04, 2018
Gennaro Notomista, Magnus Egerstedt


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Fault Tolerant Control for Networked Mobile Robots


Sep 29, 2018
Pietro Pierpaoli, Dominique Sauter, Magnus Egerstedt

* 7 pages, 7 figures, conference 

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Barrier-Certified Adaptive Reinforcement Learning with Applications to Brushbot Navigation


Sep 12, 2018
Motoya Ohnishi, Li Wang, Gennaro Notomista, Magnus Egerstedt

* 19 pages 

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Control of Multi-Agent Systems with Finite Time Control Barrier Certificates and Temporal Logic


Aug 07, 2018
Mohit Srinivasan, Samuel Coogan, Magnus Egerstedt

* To appear in the 57th IEEE Conference on Decision and Control, Miami Beach, FL, USA, 2018 

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Coverage Control for Wire-Traversing Robots


Feb 24, 2018
Gennaro Notomista, Magnus Egerstedt


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A Parametric MPC Approach to Balancing the Cost of Abstraction for Differential-Drive Mobile Robots


Feb 20, 2018
Paul Glotfelter, Magnus Egerstedt

* ICRA 2018 

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Safe Learning of Quadrotor Dynamics Using Barrier Certificates


Oct 16, 2017
Li Wang, Evangelos A. Theodorou, Magnus Egerstedt

* Submitted to ICRA 2018, 8 pages 

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