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Our Publications... We are working on three broad themes - bellow, a representative publication from each:
collision avoidance D.M. Stipanovic, P.F. Hokayem, M.W. Spong, and D.D. Siljak, "Cooperative Avoidance Control for Multi-Agent Systems," ASME Journal of Dynamic Systems, Measurement, and Control, 2007, to appear. Abstract- The objective of this paper is to present a methodology for designing cooperative control laws for individual agents that guarantee collision avoidance in multi-agent systems. The proposed avoidance control laws are easy to design and implement, and may be directly appended to the optimal control laws of the individual agents within the cooperation framework. The avoidance control laws are computed using value functions that resemble the behavior of barrier functions in the static optimization theory. The most attractive feature of the proposed optimization scheme is the fact that the avoidance laws are active only in the bounded sensing regions of each individual agent, and they do not interfere with the agents’ individual optimal control laws outside of these regions.
coverage P.F. Hokayem, D.M. Stipanovic, and M.W. Spong, "Dynamic Coverage Control with Limited Communication," American Control Conference, 2007, to appear. Abstract—In this paper we address the problem of dynamic coverage control of a convex polygonal region in R2 using N agents with bounded velocities and finite area of coverage. The proposed coverage algorithm guarantees finite-time search of the region, does not depend on gradient-based methods and can be carried out in by the agents in an independent fashion. We provide an upper bound on the completion time as well as the number of messages that need to be exchanged by the agents.
teleoperation P. F. Hokayem and M. W. Spong, “Stability of Quantized and Delayed Bilateral Teleoperators,” IEEE Conference on Decision and Control, San Diego, CA, 2006, pp. 4484-4489. Abstract - In this paper we address the issue of quantization in delayed bilateral teleoperators via input-to-state stability concepts and the small-gain theorem. An ultimate bound is established on the tracking error between the master and slave positions and the final velocities, based on the available resolution for quantization and magnitudes of external forces acting on both robots. A characterization of possible environments that would provide such bounded external forces is given.
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Reliable and Robust Control of Formations of Unmanned Vehicles |
