ConferenceProceedings IEEE International Conference on Robotics and Automation · July 21, 2017
We consider a team of multiple dynamical and heterogeneous robots which are deployed for gathering different types of data within a common workspace. The robots have different roles due to different capabilities: some gather data from the workspace (Type-A ...
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ConferenceProceedings of the American Control Conference · June 29, 2017
This paper considers a risk-averse approach to planning the motion of mobile sensor networks in order to maximize the information they collect in uncertain environments. Recent models of risk shape the tails of the probability distributions of the decision ...
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Conference2017 IEEE 56th Annual Conference on Decision and Control Cdc 2017 · June 28, 2017
In this paper we investigate the use of Stochastic Reduced Order Models (SROMs) for solving Stochastic Source Identification (SSI) problems in steady-state transport phenomena given statistics of the system state at a small number of locations. We capture ...
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Conference2017 IEEE 56th Annual Conference on Decision and Control Cdc 2017 · June 28, 2017
In this paper we present a distributed Augmented Lagrangian (AL) algorithm to solve model predictive control (MPC) problems that involve a finite number of subsystems which interact with each other via a general network. We focus on discrete-time control s ...
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Conference2017 IEEE 56th Annual Conference on Decision and Control Cdc 2017 · June 28, 2017
We consider a mobile robot tasked with gathering data in an environment of interest and transmitting these data to a data center. The task is specified as a high-level Linear Temporal Logic (LTL) formula that captures the data to be gathered at various reg ...
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ConferenceProceedings 2017 ACM IEEE 8th International Conference on Cyber Physical Systems Iccps 2017 Part of Cps Week · April 18, 2017
This paper proposes a sampling-based algorithm for multi-robot control synthesis under global Linear Temporal Logic (LTL) formulas. Robot mobility is captured by transition systems whose states represent regions in the environment that satisfy atomic propo ...
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Conference2016 IEEE 55th Conference on Decision and Control Cdc 2016 · December 27, 2016
In this paper, we address the problem of controlling a network of mobile sensors to estimate a collection of hidden states to a user-specified accuracy. The mobile sensors simultaneously take measurements of the hidden states, fuse them in a distributed fi ...
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Conference2016 IEEE 55th Conference on Decision and Control Cdc 2016 · December 27, 2016
We consider distributed convex optimization problems that involve a separable objective function and nontrivial convex local constraints, such as Linear Matrix Inequalities (LMIs). We propose a decentralized, computationally inexpensive algorithm to solve ...
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Conference2016 IEEE 55th Conference on Decision and Control Cdc 2016 · December 27, 2016
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that graph giving rise ...
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Conference2016 IEEE 55th Conference on Decision and Control Cdc 2016 · December 27, 2016
This paper introduces saddle-point methods for distributed continuous-time online convex optimization, where the system objective function varies arbitrarily over time subject to some global inequality constraints. The overall dynamics of the proposed sadd ...
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ConferenceProceedings of the American Control Conference · July 28, 2016
This paper introduces a decentralized primal-dual method for online distributed optimization involving global constraints. We employ a consensus-based framework and exploit the decomposability of the constraints in dual domain. At each stage, each agent co ...
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ConferenceProceedings of the American Control Conference · July 28, 2016
In this paper we propose a novel approach to the problem of model-based source identification in steady-state transport phenomena given a set of noisy measurements. We formulate the problem as an optimization problem in function space and utilize the adjoi ...
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ConferenceProceedings of the American Control Conference · July 28, 2016
In this paper we develop an intermittent communication framework for mobile robot networks. Intermittent communication provides significantly more flexibility to the robots to accomplish their tasks compared to approaches that enforce communication constra ...
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ConferenceConference Record Asilomar Conference on Signals Systems and Computers · February 26, 2016
In this paper, we consider networks of mobile robots responsible for accomplishing tasks, captured by Linear Temporal Logic (LTL) formulas, while ensuring communication with all other robots in the network. The robots operate in complex environments repres ...
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ConferenceProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition · October 14, 2015
We present an approach for correcting the bias in 3D reconstruction of points imaged by a calibrated stereo rig. Our analysis is based on the observation that, due to quantization error, a 3D point reconstructed by triangulation essentially represents an e ...
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ConferenceProceedings of the American Control Conference · July 28, 2015
This paper presents a model-based approach for source identification using sparse recovery techniques. In particular, given an arbitrary domain that contains a set of unknown sources and a set of stationary sensors that can measure a quantity generated by ...
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ConferenceProceedings of the American Control Conference · July 28, 2015
This paper addresses optimal path planning and resource allocation for active multi-target localization. For each target, we solve a local Dynamic Program (DP) that plans optimal trajectories in the joint state-space of robot positions and target location ...
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ConferenceProceedings of the American Control Conference · July 28, 2015
We consider the Accelerated Distributed Augmented Lagrangians (ADAL) algorithm, a distributed optimization algorithm that was recently developed by the authors to address problems that involve multiple agents optimizing a separable convex objective functio ...
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ConferenceIEEE International Conference on Intelligent Robots and Systems · October 31, 2014
This paper presents a novel method that enables a team of aerial robots to enclose a target in 3D space by attaining a desired geometric formation around it. We propose an approach in which each robot obtains its motion commands using measurements of the r ...
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Conference2014 IEEE Global Conference on Signal and Information Processing Globalsip 2014 · February 5, 2014
The purpose of this paper is to propose a distributed control scheme to maximize area coverage by a mobile robot network while ensuring reliable communication between the members of the team. The information that is generated at the sensors depends on the ...
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ConferenceProceedings of the IEEE Conference on Decision and Control · January 1, 2014
The purpose of this paper is to propose a control scheme to maximize area coverage and at the same time ensure reliable communication in networks of mobile robot sensors. The information that is generated at the sensors depends on the sensing capabilities ...
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