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pro vyhledávání: '"Beaver, Logan"'
Autor:
Beaver, Logan
In this article we propose a game-theoretic approach to the multi-robot task allocation problem using the framework of global games. Each task is associated with a global signal, a real-valued number that captures the task execution progress and/or u
Externí odkaz:
http://arxiv.org/abs/2501.01531
Autor:
Beaver, Logan E.
In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks, including round
Externí odkaz:
http://arxiv.org/abs/2412.11804
Autor:
Kermanshah, Mehdi, Beaver, Logan E., Sokolich, Max, Kirmizitas, Fatma Ceren, Das, Sambeeta, Tron, Roberto, Weiss, Ron, Belta, Calin
This paper presents a control framework for magnetically actuated cellbots, which combines Model Predictive Control (MPC) with Gaussian Processes (GPs) as a disturbance estimator for precise trajectory tracking. To address the challenges posed by unm
Externí odkaz:
http://arxiv.org/abs/2406.02722
Autor:
Beaver, Logan
This extended abstracts presents a method to generate energy-optimal trajectories for multi-agent systems as a strategic-form game. Using recent results in optimal control, we demonstrate that an energy-optimal trajectory can be generated in millisec
Externí odkaz:
http://arxiv.org/abs/2403.19641
Autor:
Beaver, Logan E.
In this article we address the multi-robot task allocation problem, where robots must cooperatively assign themselves to accomplish a set of tasks. We consider the colony maintenance problem as an example, where a team of robots are tasked with conti
Externí odkaz:
http://arxiv.org/abs/2403.15621
Publikováno v:
Control Systems Letters (L-CSS) 2024
In this letter, we address the problem of improving the feasible domain of the solution of a decentralized control framework for coordinating connected and automated vehicles (CAVs) at signal-free intersections as the traffic volume increases. The fr
Externí odkaz:
http://arxiv.org/abs/2403.05739
Autor:
Beaver, Logan E.
This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effort than it is capable of generating. This inevitably leads to a safety
Externí odkaz:
http://arxiv.org/abs/2402.17694
Autor:
Beaver, Logan E.
This article presents a method to automatically generate energy-optimal trajectories for systems with linear dynamics, linear constraints, and a quadratic cost functional (LQ systems). First, using recent advancements in optimal control, we derive th
Externí odkaz:
http://arxiv.org/abs/2310.00168
In this paper we study an infinite-horizon persistent monitoring problem in a two-dimensional mission space containing a finite number of statically placed targets, at each of which we assume a constant rate of uncertainty accumulation. Equipped with
Externí odkaz:
http://arxiv.org/abs/2304.03667
Micron-scale robots ($\mu$bots) have recently shown great promise for emerging medical applications. Accurate controlling $\mu$bots, while critical to their successful deployment, is challenging. In this work, we consider the problem of tracking a re
Externí odkaz:
http://arxiv.org/abs/2212.00188