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We propose a method for synthesizing decentralized feedback controllers for a team of multiple heterogeneous agents navigating a known environment with obstacles. The controllers are designed to drive agents with limited team state information to goal sets while avoiding collisions and maintaining specified proximity constraints. The method, its successful application to nonholonomic agents in dynamic...
We present a decentralized approach to multi- robot manipulation where the team of robots surround and trap an object and transport it, by dragging or pushing, to the goal configuration in an environment with obstacles. The proposed feedback controllers are obtained by sequentially composing vector fields or behaviors and are decentralized in the sense that robots do not exchange each other's state...
In this paper we develop controllers that are used for the control of individual or groups of vehicles based only on sensors that provide bearing information. Our inspiration is derived from the observation that many ant species use landmark retinal positions to navigate without having any range information. This is specially relevant to vision-based controllers for vehicles because cameras provide...
In this paper we present a comprehensive framework for abstraction and controller design for a biological system. The first half of the paper concerns modeling and model abstraction of the system. Most models in systems biology are deterministic models with ordinary differential equations in the concentration variables. We present a stochastic hybrid model of the lactose regulation system of E. coli...
We develop decentralized controllers for a team of disk-shaped robots to converge to and circulate along the boundary of a desired two-dimensional geometric pattern specified by a smooth function with collision avoidance. The proposed feedback controllers rely solely on each robot's range and bearing sensors which allow them to obtain information about positions of neighbors within a given range....
Due to topological constraints, navigation functions, are not, except from trivial cases, equivalent to quadratic Lyapunov functions, hence systems based on navigation functions cannot directly accept an input-to-state stability (ISS) characterization. However a relaxed version of input-to-state stability, namely almost global ISS (aISS), is shown to be applicable. The proposed framework provides...
This paper focuses on the lactose regulation system in Escherichia coli bacteria, one of the most extensively studied examples of positive feedback in a naturally occurring gene network. State-of-the-art nonlinear dynamical system models predict a bi-stability phenomenon that is confirmed in experiments. However, such deterministic models fail to explain experimental observations of spontaneous transition...
We present a path planning algorithm for time-critical cooperative surveillance using a set of unmanned aerial platforms. The unique constraints imposed by maneuver limits and body-fixed cameras make the problem quite challenging. An integer programming(IP)-based strategy for successfully operating within these constraints is developed. IP is applied over a receding planning horizon with terminal...
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