%0 Journal Article %J IEEE Robotics and Automation Letters %D 2019 %T Deconfliction of Motion Paths With Traffic Inspired Rules %A F. Celi %A L. Wang %A L. Pallottino %A M. Egerstedt %K Automobiles %K Autonomous Vehicles %K Collision Avoidance %K multi-robot systems %K Navigation %K Physical Human-Robot Interaction %K Roads %K Robots %K Safety %B IEEE Robotics and Automation Letters %V 4 %P 2227-2234 %8 April %G eng %R 10.1109/LRA.2019.2899932 %0 Journal Article %J Control Systems Magazine %D 2012 %T Interacting with networks: How does structure relate to controllability in single-leader, consensus networks? %A M. Egerstedt %A S. Martini %A M. Cao %A K. Camlibel %A A. Bicchi %K Embedded Control %K Robotics %B Control Systems Magazine %V 32 %P 66 - 73 %G eng %N 4 %0 Conference Paper %B 2011 IEEE International Conference on Robotics and Automation %D 2011 %T Decentralized Species Classification in Societies of Autonomous and Heterogenous Robots %A S. Martini %A A. Fagiolini %A G. Zichittella %A M. Egerstedt %A A. Bicchi %K Embedded Control %K Robotics %B 2011 IEEE International Conference on Robotics and Automation %C Shangai, China %P 32 - 39 %8 May 9 - 13 %G eng %0 Journal Article %J Int. J. Systems, Control and Communications %D 2010 %T Controllability analysis of multi-agent systems using relaxed equitable partitions %A S. Martini %A M. Egerstedt %A A. Bicchi %K Embedded Control %K Robotics %X

This paper investigates the issue of how to make decentralised networks amenable to external control, i.e. how to ensure that they are appropriately organised so that they can be effectively

%B Int. J. Systems, Control and Communications %V 2 %P 100-121 %G eng %0 Conference Paper %B International Conference on Decision and Control - CDC 2010 %D 2010 %T Observability and Controllability Detection of Multi-Agent Systems through Decentralized Laplacian Spectrum Estimation %A M. Franceschelli %A S. Martini %A M. Egerstedt %A A. Bicchi %A A. Giua %K Embedded Control %K Robotics %B International Conference on Decision and Control - CDC 2010 %P 5775 - 5780 %G eng %0 Conference Paper %B Int Conf of Hybrid Systems: Computation and Control %D 2008 %T Anytime Control Algorithms for Real-Time Embedded Systems %A D. Fontanelli %A L. Greco %A A. Bicchi %E M. Egerstedt %E B. Mishra %K Embedded Control %K Robotics %X

In this paper we consider the problem of designing controllers for linear plants to be implemented in embedded platforms under stringent real-time constraints. These include preemptive scheduling schemes, under which the maximum execution time allowed for control software tasks is uncertain. We propose an ``anytime control'' design approach, consisting in a hierarchy of controllers for the same plant. Higher controllers in the hierarchy provide better closed-loop performance, while typically requiring a larger worst-case execution time. We provide a procedure for the design of controllers which, together with a conditioning process of the stochastic scheduling, provides better performance than prevailing worst case-based design, while guaranteeing almost sure stability of the resulting switching system.

%B Int Conf of Hybrid Systems: Computation and Control %S Lecture Notes in Computer Science %I Springer-Verlag %C St. Louis, MO %V 4981/2008 %P 158 - 171 %G eng %0 Conference Paper %B Proc. IEEE Int. Conf. on Decision and Control %D 2008 %T Controllability Decompositions of Networked Systems Through Quotient Graphs %A S. Martini %A M. Egerstedt %A A. Bicchi %K Embedded Control %K Robotics %B Proc. IEEE Int. Conf. on Decision and Control %P 5244 - 5249 %G eng %0 Conference Paper %B Hybrid Systems: Computation and Control %D 2008 %T Steering a Leader-Follower Team via Linear Consensus %A F. Pasqualetti %A S. Martini %A A. Bicchi %E M. Egerstedt %E B. Mishra %K Embedded Control %K Robotics %X

The paper considers the problem of driving a formation of autonomous mobile agents. The group of mobile devices is described as a leader–follower network, where the followers update their position using a simple local consensus procedure, while the leaders, whose positions represent the control inputs of the network, are free to move. We characterize the transient behavior of the network, and solve the containment problem without relying on auxiliary sensors.

%B Hybrid Systems: Computation and Control %S Lecture Notes in Computer Science %I Springer-Verlag %V 4981/2008 %P 642-645 %G eng %0 Journal Article %J Robotics and Automation Magazine %D 2007 %T Symbolic Planning and Control of Robot Motion: Finding the Missing Pieces of Current Methods and Ideas %A C. Belta %A A. Bicchi %A M. Egerstedt %A E. Frazzoli %A E. Klavins %A G. J. Pappas %K Embedded Control %K Robotics %X

Approaches to robot motion planning and control that involve tools such as automata, languages, temporal logics, and grammars, have been recently termed "symbolic." In this article, we review some existing results, discuss their relevance and applicability, and outline some of the main open questions and challenges in the area.

%B Robotics and Automation Magazine %V 14 %P 61-70 %G eng