Magnus Egerstedt's Books

Robot Ecology

Constraint-Based Design for Long-Duration Autonomy

By: Magnus Egerstedt

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Robot Ecology

Constraint-Based Design for Long-Duration Autonomy

By: Magnus Egerstedt

A revolutionary new framework that draws on insights from ecology for the design and analysis of long-duration robots Robots are increasingly leaving the confines of laboratories, warehouses, and manufacturing facilities, venturing into agriculture and other settings where they must operate in uncertain conditions over long timescales. This multidisciplinary book draws on the principles of ecology to show how robots can take full advantage of the environments they inhabit, including as sources of energy. Magnus Egerstedt introduces a revolutionary new design paradigm—robot ecology—that makes it possible to achieve long-duration autonomy while avoiding catastrophic failures. Central to ecology is the idea that the richness of an organism’s behavior is a function of the environmental constraints imposed by its habitat. Moving beyond traditional strategies that focus on optimal policies for making robots achieve targeted tasks, Egerstedt explores how to use survivability constraints to produce both effective and provably safe robot behaviors. He blends discussions of ecological principles with the development of control barrier functions as a formal approach to constraint-based control design, and provides an in-depth look at the design of the SlothBot, a slow and energy-efficient robot used for environmental monitoring and conservation. Visionary in scope, Robot Ecology presents a comprehensive and unified methodology for designing robots that can function over long durations in diverse natural environments.

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Page Count

360

Publisher

Princeton University Press

Published Date

ISBN 10

0691230072

ISBN 13

9780691230078

Control Theoretic Splines

Optimal Control, Statistics, and Path Planning

By: Magnus Egerstedt,Clyde Martin

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Control Theoretic Splines

Optimal Control, Statistics, and Path Planning

By: Magnus Egerstedt,Clyde Martin

Splines, both interpolatory and smoothing, have a long and rich history that has largely been application driven. This book unifies these constructions in a comprehensive and accessible way, drawing from the latest methods and applications to show how they arise naturally in the theory of linear control systems. Magnus Egerstedt and Clyde Martin are leading innovators in the use of control theoretic splines to bring together many diverse applications within a common framework. In this book, they begin with a series of problems ranging from path planning to statistics to approximation. Using the tools of optimization over vector spaces, Egerstedt and Martin demonstrate how all of these problems are part of the same general mathematical framework, and how they are all, to a certain degree, a consequence of the optimization problem of finding the shortest distance from a point to an affine subspace in a Hilbert space. They cover periodic splines, monotone splines, and splines with inequality constraints, and explain how any finite number of linear constraints can be added. This book reveals how the many natural connections between control theory, numerical analysis, and statistics can be used to generate powerful mathematical and analytical tools. This book is an excellent resource for students and professionals in control theory, robotics, engineering, computer graphics, econometrics, and any area that requires the construction of curves based on sets of raw data.

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Page Count

232

Publisher

Princeton University Press

Published Date

ISBN 10

1400833876

ISBN 13

9781400833870

Robot Ecology

Constraint-Based Design for Long-Duration Autonomy

By: Magnus Egerstedt

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Robot Ecology

Constraint-Based Design for Long-Duration Autonomy

By: Magnus Egerstedt

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Page Count

360

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Princeton University Press

Published Date

ISBN 10

069121168X

ISBN 13

9780691211688

Graph Theoretic Methods in Multiagent Networks

By: Mehran Mesbahi,Magnus Egerstedt

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Graph Theoretic Methods in Multiagent Networks

By: Mehran Mesbahi,Magnus Egerstedt

This accessible book provides an introduction to the analysis and design of dynamic multiagent networks. Such networks are of great interest in a wide range of areas in science and engineering, including: mobile sensor networks, distributed robotics such as formation flying and swarming, quantum networks, networked economics, biological synchronization, and social networks. Focusing on graph theoretic methods for the analysis and synthesis of dynamic multiagent networks, the book presents a powerful new formalism and set of tools for networked systems. The book's three sections look at foundations, multiagent networks, and networks as systems. The authors give an overview of important ideas from graph theory, followed by a detailed account of the agreement protocol and its various extensions, including the behavior of the protocol over undirected, directed, switching, and random networks. They cover topics such as formation control, coverage, distributed estimation, social networks, and games over networks. And they explore intriguing aspects of viewing networks as systems, by making these networks amenable to control-theoretic analysis and automatic synthesis, by monitoring their dynamic evolution, and by examining higher-order interaction models in terms of simplicial complexes and their applications. The book will interest graduate students working in systems and control, as well as in computer science and robotics. It will be a standard reference for researchers seeking a self-contained account of system-theoretic aspects of multiagent networks and their wide-ranging applications. This book has been adopted as a textbook at the following universities: ? University of Stuttgart, Germany Royal Institute of Technology, Sweden Johannes Kepler University, Austria Georgia Tech, USA University of Washington, USA Ohio University, USA

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Page Count

424

Publisher

Princeton University Press

Published Date

ISBN 10

1400835356

ISBN 13

9781400835355

Hybrid Systems: Computation and Control

11th International Workshop, HSCC 2008, St. Louis, MO, USA, April 22-24, 2008, Proceedings

By: Magnus Egerstedt

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Hybrid Systems: Computation and Control

11th International Workshop, HSCC 2008, St. Louis, MO, USA, April 22-24, 2008, Proceedings

By: Magnus Egerstedt

This book constitutes the refereed proceedings of the 11th International Conference on Hybrid Systems: Computation and Control, HSCC 2008, held in St. Louis, MO, USA, in April 2008. The 42 revised full papers and 20 revised short papers presented were carefully reviewed and selected from numerous submissions for inclusion in the book. The papers focus on research in embedded, reactive systems involving the interplay between symbolic/switching and continuous dynamical behaviors and feature the latest developments of applications and theoretical advancements in the design, analysis, control, optimization, and implementation of hybrid systems, with particular attention to embedded and networked control systems.

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Page Count

692

Publisher

Springer Science & Business Media

Published Date

ISBN 10

3540789286

ISBN 13

9783540789284

Control Theoretic Splines

Optimal Control, Statistics, and Path Planning

By: Magnus Egerstedt,Clyde Martin

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Control Theoretic Splines

Optimal Control, Statistics, and Path Planning

By: Magnus Egerstedt,Clyde Martin

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Page Count

232

Publisher

Princeton University Press

Published Date

ISBN 10

1400833876

ISBN 13

9781400833870

Hybrid Systems: Computation and Control

11th International Workshop, HSCC 2008, St. Louis, MO, USA, April 22-24, 2008, Proceedings

By: Magnus Egerstedt,Bud Mishra

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Hybrid Systems: Computation and Control

11th International Workshop, HSCC 2008, St. Louis, MO, USA, April 22-24, 2008, Proceedings

By: Magnus Egerstedt,Bud Mishra

This volume contains the proceedings ofthe 11th Workshop on Hybrid Systems: Computation and Control (HSCC 2008) held in St. Louis, Missouriduring April 22–24,2008.The annual workshop on hybrid systems focuses on researchin - bedded,reactivesystemsinvolvingtheinterplaybetweensymbolic/switchingand continuous dynamical behaviors. HSCC attracts academic as well as industrial researchers to exchange information on the latest developments of applications and theoretical advancements in the design, analysis, control, optimization, and implementation of hybrid systems, with particular attention to embedded and networked control systems. New for this year was that HSCC was part of the inaugural CPSWEEK (Cyber-Physical Systems Week) – a co-located cluster of three conferences: HSCC, RTAS (Real-Time and Embedded Technology and Applications Sym- sium), and IPSN (International Conference on Information Processing in Sensor Networks). The previous workshops in the series of HSCC were held in Berkeley, USA (1998),Nijmegen,TheNetherlands(1999),Pittsburgh,USA(2000),Rome,Italy (2001), Palo Alto, USA (2002), Prague, Czech Republic (2003), Philadelphia, USA (2004),Zurich, Switzerland (2005) , Santa Barbara,USA (2006), and Pisa, Italy (2007). We would like to thank the Program Committee members and the reviewers for an excellent job of evaluating the submissions and participating in the online Program Committee discussions. We are grateful to the Steering Committee for their helpful guidance and support. We would also like to thank Patrick Martin for putting together these proceedings, and Jiuguang Wang for developing and maintaining the HSCC 2008 website. January 2008 Magnus Egerstedt Bud Mishra Organization HSCC 2008 was technically co-sponsored by the IEEE Control Systems Society and organized in cooperation with ACM/SIGBED.

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Page Count

692

Publisher

Springer

Published Date

ISBN 10

3540789294

ISBN 13

9783540789291

Graph Theoretic Methods in Multiagent Networks

By: Mehran Mesbahi,Magnus Egerstedt

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Graph Theoretic Methods in Multiagent Networks

By: Mehran Mesbahi,Magnus Egerstedt

An introduction to the analysis & design of dynamic multiagent networks. These have a wide range of applications in science & engineering, including mobile sensor networks, distributed robotics, quantum networks, networked economics, biological synchronization & social networks.

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Page Count

423

Publisher

Princeton University Press

Published Date

ISBN 10

0691140618

ISBN 13

9780691140612

Book's by Magnus Egerstedt

Robot Ecology

Robot Ecology

Control Theoretic Splines

Control Theoretic Splines

Robot Ecology

Robot Ecology

Graph Theoretic Methods in Multiagent Networks

Graph Theoretic Methods in Multiagent Networks

Hybrid Systems: Computation and Control

Hybrid Systems: Computation and Control

Control Theoretic Splines

Control Theoretic Splines

Hybrid Systems: Computation and Control

Hybrid Systems: Computation and Control

Graph Theoretic Methods in Multiagent Networks

Graph Theoretic Methods in Multiagent Networks

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